CN106627838B - Automatic guiding vehicle - Google Patents
Automatic guiding vehicle Download PDFInfo
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- CN106627838B CN106627838B CN201510822338.XA CN201510822338A CN106627838B CN 106627838 B CN106627838 B CN 106627838B CN 201510822338 A CN201510822338 A CN 201510822338A CN 106627838 B CN106627838 B CN 106627838B
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- cylinder
- guided vehicle
- automatic guided
- driving wheel
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- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 11
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- 230000033001 locomotion Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 3
- 239000002360 explosive Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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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 vehicles.
Background technique
Automatic guided vehicle (auto guided vehicle, AGV) be a kind of set environment sensing, programmed decision-making and nobody
Change the multi-functional synthesises being integrated such as automatic manipulation, and hold its characteristic effectively to save labour turnover under the arm, and can be widely applied to
The operations such as automatic Pilot, material transportation, monitoring patrol, disengaging hazardous area.The use of known automatic guided vehicle system can program control
Device (Programmable Logic Controller, PLC) processed is used as control core, to execute output signal in each external horse
It reaches and actuator carries out mass motion control.
Furthermore general automatic guided vehicle can rise in traveling process by various acceleration, deceleration, and by various landform often
The influence of volt.For example, kinetic force of friction between automatic guided vehicle and ground can be because the situation on ground be (flatness, coarse
Degree) and it is different, however the drive system of existing automatic guided vehicle and wheel are fixation, therefore can not simultaneously can ensure that automatic guide
Vehicle is able to maintain certain tracking power (tractive force) in various landform.
Based on above-mentioned, how automatic guided vehicle is allowed to adapt to various landform with relatively more positive means, that is,
Various landform are able to maintain enough kinetic force of frictions, the project for actually considering needed for related personnel and solving.
Summary of the invention
The present invention provides a kind of automatic guided vehicle, and driving wheel module can be adjusted by adjusting module relative to ground
Frictional force, to allow automatic guided vehicle to keep tracking power appropriate.
Automatic guided vehicle of the invention, to walk on a ground, automatic guided vehicle includes car body, at least a driving wheel
Module, at least three auxiliary wheel modules and adjustment module.Driving wheel module is set to car body.Auxiliary wheel module difference is freely
It is articulated in car body.Module assembled is adjusted between car body and driving wheel module, to adjust driving wheel module rubbing relative to ground
Wipe power.
In one embodiment of this invention, above-mentioned adjustment module includes the first cylinder, adjustment component and elastic component.The
One cylinder erects in the first holder of driving wheel module.Adjustment component is movably sheathed on the first cylinder and is assembled in car body
On.Elastic component is sheathed on the first cylinder and is connected between the first holder and adjustment component.Adjustment component adjusts it in the first column
Position on body and the deformation extent for changing elastic component.
In one embodiment of this invention, above-mentioned adjustment component includes fixing seat, the second cylinder and fitting.It is fixed
Seat is assembled in car body.Second cylinder passes through fixing seat and is sheathed on outside the first cylinder.Fitting is sheathed on outside the second cylinder.It is above-mentioned
Elastic component be connected between fitting and the first holder.
In one embodiment of this invention, above-mentioned fixing seat has internal screw thread, and the second above-mentioned cylinder has external screw thread,
Wherein the internal screw thread collocation of fixing seat is engaged in the external screw thread of the second cylinder and adjusts opposite between the second cylinder and fixing seat
Position.
In one embodiment of this invention, above-mentioned fitting has internal screw thread, and the internal screw thread of fitting is arranged in pairs or groups and engaged
In above-mentioned second cylinder external screw thread and adjust the relative position between fitting and the second cylinder, to change the deformation of elastic component
Degree.
In one embodiment of this invention, the second above-mentioned cylinder is hollow stud, and hollow stud is socketed on above-mentioned the
The surface of one cylinder is shiny surface.
In one embodiment of this invention, the second above-mentioned cylinder also has nut portion, and automatic guided vehicle also has only
Block piece is removable installed in fixing seat and is sheathed on the second cylinder.Stop part has the running-on for meeting nut portion shape, and covers
Mouth is interfered with nut portion, so that the second cylinder can not be mobile relative to fixing seat.
In one embodiment of this invention, above-mentioned automatic guided vehicle also has stop part, is removable installed in fixation
Seat and be sheathed on the second cylinder.Stop part has internal screw thread, and the external screw thread of the second cylinder is engaged with the collocation of the internal screw thread of stop part,
And the internal screw thread in the direction and fixing seat of the internal screw thread of stop part is contrary, so that the second cylinder can not be relative to fixing seat
It is mobile.
In one embodiment of this invention, above-mentioned automatic guided vehicle also has stop part, has external screw thread, and above-mentioned solid
The side of reservation has internal screw thread.The internal screw thread collocation of the external screw thread of stop part and the side is engaged, with allow stop part removably
It locks in fixing seat and interferes with the second above-mentioned cylinder, so that the second cylinder can not be mobile relative to fixing seat.
In one embodiment of this invention, above-mentioned driving wheel module includes motor, driving wheel and transmission component.Motor
It is set in the first above-mentioned holder, driving wheel is hubbed in the first above-mentioned holder.Transmission component is connected to motor and driving
Between wheel.Adjust the frictional force that component changes the deformation extent of above-mentioned elastic component and adjusts 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
It is set to 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 between auxiliary wheel module.
Based on above-mentioned, automatic guided vehicle changes frictional force of the driving wheel module relative to ground by adjusting module, and
It allows automatic guided vehicle to remain to maintain the tracking power of its driving wheel module when facing the lower ground of roughness, and effectively avoids driving
The situation that driving wheel module is skidded occurs, while also improving automatic guided vehicle for the adaptability on various ground or landform.
To make the foregoing features and advantages of the present invention clearer and more comprehensible, special embodiment below, and it is detailed to cooperate attached drawing to make
Carefully it is described as follows.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of automatic guided vehicle of an embodiment according to the present invention；
Fig. 2 and Fig. 3 is the partial schematic diagram that the automatic guided vehicle of Fig. 1 is shown with different perspectives respectively；
Fig. 4 is the schematic diagram of Fig. 1 auxiliary wheel module；
Fig. 5 is the explosive view of the adjustment 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 symbols:
100: automatic guided vehicle；
110A, 110B: driving wheel module；
112: the first holders；
114: motor；
116: driving wheel；
118: transmission component；
120A, 120B, 120C: auxiliary wheel module；
122: auxiliary wheel；
124: bearing；
126: fixing piece；
128: the second holders；
130: car body；
132: outline border；
131,133,134,136: truss；
134a: opening；
140A, 140B: adjustment module；
141: fitting；
142: the first cylinders；
144: elastic component；
146: the second cylinders；
146a: shiny surface；
146b: first segment；
146c: second segment；
148: fixing seat；
148a: top；
148b: column portion；
148c: side；
150,160,170: stop part；
162: running-on；
AD: adjustment component；
D1: spacing.
Specific embodiment
Fig. 1 is a kind of schematic diagram of automatic guided vehicle of an embodiment according to the present invention.Referring to FIG. 1, automatic guided vehicle
100 include car body 130 and driving wheel module 110A, 110B assembled thereon, auxiliary wheel module 120A, 120B and 120C, and
Adjust module 140A, 140B.In the present embodiment, car body 130 is truss-like structure comprising outline border 132 is erected at outline border
Two truss 131,133 on 132, and the another two truss 134,136 being erected on two truss 131,133, wherein auxiliary
Wheel module 120C setting is helped between outline border 132 and truss 131 and auxiliary wheel module 120A, 120B is separately positioned on outline border
Between 132 and truss 133, and driving wheel module 110A is arranged on truss 134, and driving wheel module 110B is arranged in truss 136
On.
The quantity of driving wheel module 110A, 110B is not limited herein, that is, the visual automatic guided vehicle of user
100 loading demand and driving force and select an appropriate number of driving wheel module, can also such as in another unshowned embodiment
Using single a driving wheel module as 100 driving force source of automatic guided vehicle.Furthermore in the present embodiment, to allow automatic guide
The loading energy average mark of vehicle 100 is loaded on the auxiliary wheel module 120A~120C, therefore the automatic guided vehicle 100 of the present embodiment
Need to be using at least three auxiliary wheel module 120A~120C as its Minimum requirements, and three auxiliary wheel modules 120A~120C
A plane need to be formed, and allow driving wheel module 110A, 110B be located in the plane and be located at these auxiliary wheel modules 120A~
Between 120C.Under the premise of herein, user can achieve the effect that disperse loading and configuring more than three auxiliary wheel module.
Fig. 2 and Fig. 3 is the partial schematic diagram that Fig. 1 automatic guided vehicle is shown with different perspectives respectively.It please also refer to Fig. 1 extremely
Fig. 3 is only with the driving wheel module 110A being arranged on truss 134 since driving wheel module 110A, 110B is mutually the same
Example is illustrated.In the present embodiment, driving wheel module 110A includes the first holder 112, motor 114, driving wheel 116 and passes
Dynamic component 118, wherein motor 114 is set in the first holder 112, and driving wheel 116 is hubbed in the first holder 112, and is driven
Component 118 (transmission refining item and gear set as shown in Figure 3) is connected between motor 114 and driving wheel 116.In this way, 114 institute of motor
Power is provided and is sent to driving wheel 116 via transmission component 118, to achieve the effect that automatic guided vehicle 100 is driven to advance.
Fig. 4 is the schematic diagram of Fig. 1 auxiliary wheel module.Similarly, herein only with auxiliary wheel module 120A~120C wherein
One of for be described.The auxiliary wheel module of the present embodiment includes the second holder 128, bearing 124 and auxiliary wheel 122, wherein
Second holder 128 is fixed on car body 130, and bearing 124 is assembled to the second holder 128 via fixing piece 126, and auxiliary wheel 122 is then
It is assembled to bearing 124.Accordingly, auxiliary wheel 122 just can freely be articulated in the second holder 128 and relative to the second holder 128 (
I.e. relative to car body 130) freely swing.
Based on above-mentioned, weight of the auxiliary wheel module 120A~120C only as carrying automatic guided vehicle 100 is used, and main
Driving force then by driving wheel module 110A, 110B provide.In addition, one of auxiliary wheel module 120A~120C can also be set
Steering assembly (not shown) is set, and further provides and the steering of automatic guided vehicle 100 is allowed to be used.
Fig. 5 is the explosive view of the adjustment module of Fig. 1.It please also refer to Fig. 2, Fig. 3 and Fig. 5 (while asking comparative diagram 1), class
As, (adjustment module 140B is also in this way, just repeating no more) is illustrated for adjusting module 140A herein.In this implementation
In example, the adjustment module 140A being assembled between car body 130 and driving wheel module 110A includes the first cylinder 142, adjustment component
AD and elastic component 144 adjust component AD wherein the first cylinder 142 erects in the first holder 112 of driving wheel module 110A
The first cylinder 142 can be sheathed on and be assembled in moving up and down and simultaneously on the truss 134 of car body 130, elastic component 144, e.g.
Spring is sheathed on the first cylinder 142 and is connected between the first holder 112 and adjustment component AD, and adjusts component by allowing
AD adjusts its position on the first cylinder 142 just can change the deformation extent of elastic component 144, reach offer driving wheel with this
Module 110A towards ground lower pressure adjustment effect.
Specifically, adjustment component AD includes fixing seat 148, the second cylinder 146 and fitting 141, and 148 groups of fixing seat
On truss 134 loaded on car body 130.It further says, truss 134 has opening 134a, and fixing seat 148 is with its column portion 148b
It allows top 148a to carry across opening 134a and is fixed in the groove of truss 134.Second cylinder 146 passes through fixing seat 148
And it is sheathed on except the first cylinder 142.As shown in figure 5, the second cylinder 146 is and the fixing seat with externally threaded hollow stud
148 have internal screw thread, thus be collocated with each other with the internal screw thread of fixing seat 148 by the external screw thread of the second cylinder 146 engage it is (i.e. solid
Reservation 148 is the first segment 146b for being screw-locked at the second cylinder 146), and so that the second cylinder 146 is adjusted it in a manner of screw lock and is consolidated
Relative position between reservation 148.Furthermore the second cylinder 146 has a shiny surface 146a, thus the second cylinder 146 of adjustment with
When the relative position of fixing seat 148, the second cylinder 146 can also movably be socketed in the first cylinder because of its shiny surface 146a
Except 142.
In addition, fitting 141 is sheathed on outside the second cylinder 146, and elastic component 144 is made to be connected to fitting 141 and first
Between holder 112.By the attached drawing of the present embodiment it is found that fitting 141 has internal screw thread, therefore pass through the interior spiral shell of fitting 141
Line is engaged with externally threaded be collocated with each other of the second cylinder 146 (that is, fitting 141 is the second segment for being screw-locked at the second cylinder 146
146c), relative position between the two can be adjusted, it is often more important that, elastic component 144 be connected to fitting 141 with
Between the first holder 112 of driving wheel module 110A, to allow fitting 141 to reach shape whether deforming elastic component 144 whereby
State.
In this way, which user just can be by adjusting component when automatic guided vehicle 100 faces roughness lower ground
AD and reduce the space D 1 (being illustrated in Fig. 2) between the truss 134 of car body 130 and the first holder 112 of driving wheel module 110A,
Namely allow and adjust component AD compression elastic piece 144, thus become the spring energy of elastic component 144 and improve driving wheel 116 and ground
Between kinetic force of friction lower pressure (being for rolling on the ground with driving wheel 116) source so that at this time automatic
Guide vehicle 100 remains to the tracking power for maintaining to be enough to advance on the lower ground of roughness.On the contrary, it is reversed to adjust component AD
Adjust the lower pressure that can loosen elastic component 144 just to reduce it for driving wheel 116.Accordingly, therefore automatic guided vehicle 100 just can be
And the ground of different roughness or profile is adapted to, and there is preferable adaptation range.
Though it should be mentioned that being shown in the present embodiment with two groups of adjustment component AD, two the first cylinders 142 and two bullets
Property part 144 remain to single group of adjustment component AD, single the first cylinder 142 and single a elastic component but in practical application
144 reach required effect.
It refer again to Fig. 5, in the present embodiment, to allow adjustment component AD adjusted will not be because of automatic guided vehicle 100
The vibration or collision of traveling and loosen, therefore automatic guided vehicle 100 further includes stop part 150, be, for example, have it is externally threaded
Only answer screw.Accordingly, a side 148c of fixing seat 148 also has internal thread hole, from 148 side 148c of fixing seat
It is connected to internal at internal screw thread.Accordingly, after the second cylinder 146 for adjusting component AD is adjusted to appropriate location, just can lead to
It crosses stop part 150 and locks the side 148c of fixing seat 148, and allow the interference of stop part 150 in the second cylinder 146, to allow the second column
Body 146 can not carry out spiral shell relative to fixing seat 148 and turn the relative movement so that upper and lower.Certainly, when being intended to change adjustment component AD
When position relative to fixing seat 148, needed for just capable of being completed by disassembly stop part 150.
Fig. 6 is a kind of partial schematic diagram of automatic guided vehicle of another embodiment of the present invention, herein with the state before assembling
As showing.Referring to FIG. 6, the stop part 160 of the present embodiment, which has, meets the second cylinder unlike previous embodiment
The running-on 162 of 146 nut portion shape, thus after stop part 160 is fixed on fixing seat 148, running-on 162 can be with nut portion phase
Interference, therefore allow the second cylinder 146 that can not carry out spiral shell relative to fixing seat 148 and turn the relative movement so that upper and lower.
Fig. 7 is a kind of partial schematic diagram of automatic guided vehicle of further embodiment of this invention.Referring to FIG. 7, with aforementioned reality
It applies unlike example, the stop part 170 of the present embodiment has internal screw thread (not shown), can be with the external screw thread of the second cylinder 146
Collocation engagement, and stop part 170 is also capable of fixing in fixing seat 148 simultaneously.In other words, the internal screw thread essence of stop part 170
On be contrary with the external screw thread of fixing seat 148.It allows additional frictional force in this way, which stop part 170 can provide and allows
Two cylinders 146 can not reach backstop effect relative to the movement of fixing seat 148 easily.
In conclusion in the above embodiment of the invention, automatic guided vehicle changes driving wheel model by adjusting module
Frictional force of the block relative to ground, wherein adjustment module can compress elastic component by adjusting component, to allow elastic component to be pressed
Elastic force after contracting becomes the lower pressure of driving wheel, even and if when driving wheel being made to face the lower ground of roughness, remain to maintain it
Tracking power, therefore automatic guided vehicle is able to adapt to various Different Ground or landform by above-mentioned means, is applicable in model to improve it
It encloses.
Furthermore automatic guided vehicle further include stop part its with various means allow the second cylinder adjusted can maintain itself and it is solid
Relative position between reservation uses the concussion or collision for avoiding automatic guided vehicle during traveling and adjustment component is allowed to loosen
Situation.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of automatic guided vehicle, which is characterized in that walk on a ground, the automatic guided vehicle includes:
One car body；
An at least driving wheel module, is set to the car body；
At least three auxiliary wheel modules, are freely articulated in the car body respectively；And
One adjustment module, be assembled between the car body and the driving wheel module, with adjust the driving wheel module relative to
The frictional force on the ground, the adjustment module include:
One first cylinder erects in one first holder of the driving wheel module；
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 between first holder and the adjustment component, the tune
Whole group part adjusts its position on first cylinder and changes the deformation extent of the elastic component, the adjustment component packet
It includes:
One fixing seat is assembled in the car body；
One second cylinder, is sheathed on outside first cylinder across the fixing seat；And
One fitting is sheathed on outside second cylinder, the elastic component be connected to the fitting and first holder it
Between.
2. automatic guided vehicle according to claim 1, which is characterized in that the fixing seat have internal screw thread, described second
Cylinder has external screw thread, and the internal screw thread collocation of the fixing seat is engaged in the external screw thread of second cylinder and adjusts described second
Relative position between cylinder and the fixing seat.
3. automatic guided vehicle according to claim 2, which is characterized in that the fitting has internal screw thread, the abutting
The internal screw thread collocation of part is engaged in the external screw thread of second cylinder and adjusts between the fitting and second cylinder
Relative position, to change the deformation extent of the elastic component.
4. automatic guided vehicle according to claim 2, which is characterized in that second cylinder is a hollow stud, and institute
Stating hollow stud and being socketed on the surface of first cylinder is shiny surface.
5. automatic guided vehicle according to claim 1, which is characterized in that second cylinder also has a nut portion, and
The automatic guided vehicle also has a stop part, is removable installed in the fixing seat and is sheathed on second cylinder, institute
Stating stop part has the running-on for meeting nut portion shape, and the running-on is interfered with the nut portion, so that institute
Stating the second cylinder can not be mobile relative to the fixing seat.
6. automatic guided vehicle according to claim 2, which is characterized in that the automatic guided vehicle also has a stop part,
It is removable installed in the fixing seat and is sheathed on second cylinder, the stop part has internal screw thread, second column
The external screw thread of body is engaged with the collocation of the internal screw thread of the stop part, so that second cylinder can not be moved relative to the fixing seat
It is dynamic.
7. automatic guided vehicle according to claim 1, which is characterized in that the automatic guided vehicle also has a stop part,
With external screw thread, and the side of the fixing seat has internal screw thread, the side of the external screw thread of the stop part and the fixing seat
Internal screw thread arrange in pairs or groups engagement, to allow the stop part removably to lock in the fixing seat and interfere with second cylinder,
So that second cylinder can not be mobile relative to the fixing seat.
8. automatic guided vehicle according to claim 1, which is characterized in that the driving wheel module includes:
One motor is set 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 the change of the elastic component
Shape degree and adjust frictional force of the driving wheel relative to the ground.
9. automatic guided vehicle according to claim 1, which is characterized in that each auxiliary wheel module includes:
One second holder, is set to the car body；And
One auxiliary wheel is freely articulated in second holder by a bearing.
10. automatic guided vehicle according to claim 1, which is characterized in that the driving wheel module is located at described at least three
Between a auxiliary wheel module.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104135562A TW201714761A (en) | 2015-10-29 | 2015-10-29 | Auto guided vehicle |
| TW104135562 | 2015-10-29 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106627838A CN106627838A (en) | 2017-05-10 |
| CN106627838B true 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) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| DE102017115184A1 (en) * | 2017-07-06 | 2019-01-10 | Gv Engineering Gmbh | Emergency wheel with self-tensioning |
| 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 |
| 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 |
Citations (4)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5229442B2 (en) * | 2007-03-27 | 2013-07-03 | いすゞ自動車株式会社 | Automated guided vehicle body |
-
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 (4)
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106627838A (en) | 2017-05-10 |
| TW201714761A (en) | 2017-05-01 |
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