CN106864586A - Agv steering mechanism - Google Patents
Agv steering mechanism Download PDFInfo
- Publication number
- CN106864586A CN106864586A CN201710135181.2A CN201710135181A CN106864586A CN 106864586 A CN106864586 A CN 106864586A CN 201710135181 A CN201710135181 A CN 201710135181A CN 106864586 A CN106864586 A CN 106864586A
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- Prior art keywords
- drive link
- connecting rod
- steering
- steering mechanism
- agv
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- 230000007246 mechanism Effects 0.000 title claims abstract description 45
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims abstract description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical group [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 11
- 229910002804 graphite Inorganic materials 0.000 claims description 11
- 239000010439 graphite Substances 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000004575 stone Substances 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
Abstract
Present invention is disclosed AGV steering mechanism, including a pair coaxial deflecting rollers, deflecting roller described in a pair is connected by the steering bindiny mechanism that single motor drives and is synchronized with the movement to same direction, the part that is connected with two deflecting rollers of bindiny mechanism that turns to can rotation, and under non-steering state, in the central point of two parallel axis of rotation and two deflecting rollers is generally aligned in the same plane.Deft design of the present invention, it is simple and compact for structure, the setting of steering attachment structure and three-dimensional connector and input/output port by linking, can effectively realize that single motor drives two deflecting rollers synchronously to rotate in same direction, relative to the structure of differential steering, only need a motor, power source is reduced, and driving wheel and deflecting roller are separated, and two deflecting roller linkages, the situation of skidding is less prone to, even if there is the situation that side deflecting roller skids, also can realize turning in the presence of overall structure, the stability of operation is relatively more preferable.
Description
Technical field
The present invention relates to a kind of steering mechanism, especially a kind of AGV steering mechanism.
Background technology
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV), refers to that being equipped with electricity magnetically or optically waits automatic
Guiding device, can travel along the guide path of regulation, and the transport vehicle with safeguard protection and various transfer functions, industry should
The carrier of driver is not required in, is its power resources with chargeable battery.Computer is typically can pass through to control its row
Enter route and behavior, or it is set up using electromagnetic path (electromagnetic path-following system)
Course, electromagnetic path is sticked on floor, automatic guided vehicle then follow the message that electromagnetic path is brought move with
Action.
The existing more use differential drive devices of AGV are realized driving and turning, mainly use two rotating speeds of motor
Differential than realizing turning, it generally comprises dolly vehicle body and differential drive assembly, differential drive assembly include driving arm and
Cover of driver for supporting driving arm, dolly vehicle body is fixed on driving arm, driving arm on the cover of driver and
It is fixedly connected with cover of driver.
This kind of structure, typically will two motors could realize turning to, power source quantity is more, also, when a deflecting roller
When occurring skidding, cannot just ensure the accuracy for turning to, or even cannot realize turning to, reduce the stability of AGV operations.
In addition, using differential steering structure, the impossible entirely accurate of controller, vehicle can produce wheel in motion process
Sliding, can cause the abrasion of wheel,
This kind of fixed structure, causes AGV dollies to run into the process of running when jolting, and dolly vehicle body vibration amplitude is larger, uses
Short life.
Also, differential steering is influenceed larger by path method for correcting error, and the path method for correcting error of main flow is mould at this stage
Paste PID control regulation, because sensor device is generated, certain control is delayed, and the regulation of PID control integral term there is also bright
Aobvious hysteresis, the cumulant increase of deviation, it is impossible in a short time by error convergence to acceptable scope.
Deviation presence is travelled in being rectified a deviation for path is difficult to short time convergent problem, and some scholars apply a kind of mould
The method for correcting error of Control PID is pasted, fuzzy control is actually the clearly data fuzzy set combination for collecting, control targe
Fuzzy set, finally again controls the realization of the clear data of obfuscation, and fuzzy PID control strategy in practice is very multiple
Miscellaneous, many function traditional PID controls can just be solved, and need to gather substantial amounts of parameter using Fuzzy processing, be lost time
Cost.
The content of the invention
The purpose of the present invention is exactly to solve the above-mentioned problems in the prior art, there is provided a kind of AGV steering mechanism.
The purpose of the present invention is achieved through the following technical solutions：
AGV steering mechanism, including a pair coaxial deflecting rollers, deflecting roller described in a pair are connected by the steering that single motor drives
Mechanism connects and is synchronized with the movement to same direction, and the part that the steering bindiny mechanism is connected with two deflecting rollers can be certainly
Turn, and under non-steering state, the central point of two parallel axis of rotation and two deflecting rollers is generally aligned in the same plane interior.
Preferably, described AGV steering mechanism, wherein：The motor is by the reductor that is fixed on support frame and turns
Disk connects the steering bindiny mechanism.
Preferably, described AGV steering mechanism, wherein：The steering bindiny mechanism is connected including one end with the rotating disk
The first drive link, one end of pivotally connected second drive link of the other end of first drive link, second drive link
The other end it is pivotally connected with T-shaped connecting portion and can rotation three-dimensional connector first connecting rod, the of the three-dimensional connector
Two connecting rods connect a deflecting roller, one end of pivotally connected 3rd drive link of its third connecting rod, the other end of the 3rd drive link
The head rod of pivotally connected input/output port, the input/output port can rotation and its second connecting rod connects another turn
To wheel, first drive link, first connecting rod, third connecting rod, head rod are parallel to each other and parallel with the deflecting roller, institute
State the second drive link parallel with the 3rd drive link.
Preferably, described AGV steering mechanism, wherein：Second drive link and the 3rd drive link include center-pole
And the connector at the center-pole two ends is bolted to, the connector includes annulus pivot connection.
Preferably, described AGV steering mechanism, wherein：The three-dimensional connector includes pivot, and the pivot runs through one
Support crossbeam and its periphery is set with graphite bearing, the two ends of the graphite bearing connect thrust bearing respectively, the graphite bearing,
Thrust bearing is pivotally secured within the support beam with the fixing nut cooperation of pivot described in bolt connection by described, the stone
The periphery branch sleeve of black bearing, sets the first connecting rod, second connecting rod and third connecting rod on the sleeve.
Preferably, described AGV steering mechanism, wherein：The first connecting rod, second connecting rod and third connecting rod respectively with institute
State sleeve weld.
Preferably, described AGV steering mechanism, wherein：The axle center of the output shaft of the motor is to the three-dimensional connector
The axis of rotation distance of the distance equal to the axis of rotation that it arrives the input/output port.
Preferably, described AGV steering mechanism, wherein：3 proximity transducers are placed equidistant on support frame as described above, they
Central point line be a bearing of trend and the second drive link bearing of trend identical straight line, during non-steering state, position
Proximity transducer in centre position is coaxial with the bolt for connecting first drive link and the second drive link.
Preferably, described AGV steering mechanism, wherein：At least two are additionally provided with the support beam positioned at described
The damper of motor both sides, is chain connection between the damper and support beam and/or vehicle body.The damper connects car
Body.
Preferably, described AGV steering mechanism, wherein：Axial connecting assembly is additionally provided with the support beam, it is described
It is chain connection between axial connecting assembly and vehicle body.
The advantage of technical solution of the present invention is mainly reflected in：
Deft design of the present invention, it is simple and compact for structure, by the steering attachment structure for linking and three-dimensional connector and two-way company
The setting of device is connect, can effectively realize that single motor drives two deflecting rollers synchronously to rotate in same direction, relative to the knot of differential steering
Structure a, it is only necessary to motor, power source is reduced, and driving wheel and deflecting roller are separated, and two deflecting roller linkages, is less prone to and is beaten
Sliding situation, even if there is the situation that side deflecting roller skids, can also realize steering in the presence of overall structure, operation it is steady
It is qualitative relatively more preferable.
Structure of the invention causes two synchronous steerings of wheel, it is not necessary to controls two rotating speeds of electrode respectively, therefore is not required to
Complicated correction process is wanted, control method is simpler, the operation stability being further ensured that.
By the shock-damping structure for setting damper and be hinged, the damping effect of AGV can be effectively improved, it is to avoid vehicle body goes out
Existing violent oscillatory motion, it is ensured that stability when AGV runs, to the adaptability of different road conditions more preferably.
The design of multiple proximity transducers and position is set, the precise control of steering angle can be easily carried out, is protected
The accuracy and validity of course changing control are demonstrate,proved, is controlled with hardware signal, for the dependence reduction of algorithm.
Brief description of the drawings
Fig. 1 is of the invention to look up three-dimensional structure diagram；
Fig. 2 is side isometric view of the invention；
Fig. 3 is upward view of the invention；
Fig. 4 is three-dimensional connector construction schematic diagram in the present invention；
Fig. 5 is rearview of the invention.
Specific embodiment
The purpose of the present invention, advantage and feature, by by the non-limitative illustration of preferred embodiment below carry out diagram and
Explain.These embodiments are only the prominent examples using technical solution of the present invention, it is all take equivalent or equivalent transformation and
The technical scheme of formation, all falls within the scope of protection of present invention.
Present invention is disclosed a kind of AGV steering mechanism, as shown in Figure 1, including a pair of axles are total to deflecting rollers 1, described in a pair
Projection of the deflecting roller 1 on the same plane parallel with them is overlapped, and deflecting roller 1 described in a pair is driven by single motor 3
Steering bindiny mechanism 2 connect and be synchronized with the movement to same direction, it is described steering bindiny mechanism 2 connect with two deflecting rollers 1
The part for connecing can rotation, while under non-steering state, two parallel axis of rotation are located at the central point of two deflecting rollers 1
In same plane.
Wherein, as shown in accompanying drawing 1, accompanying drawing 2, a pivotally connected reductor 4 of the motor 3 simultaneously passes through the reductor 4
It is fixed on a support frame, support frame as described above includes quadra and is symmetricly set in the support horizontal stroke of the quadra both sides
Beam 26, and the axle center of the output shaft of the motor 3 is located at the center position of support frame as described above, i.e., it arrives following three-dimensional connectors
Equal to the distance of the axis of rotation that it arrives following input/output ports 25, the output shaft of the reductor 4 prolongs the distance of 23 axis of rotation
The lower section of support frame as described above is reached, the region that the output shaft of the reductor 4 is located at below support frame as described above connects a rotating disk 5,
Bindiny mechanism 2 is turned to described in the bolt connection of the rotating disk 5, and drives the steering bindiny mechanism 2 to operate.
Specifically, as shown in Figure 1, the bindiny mechanism 2 that turns to includes that the first drive link 21, second of linkage is driven
Bar 22, three-dimensional connector 23, the 3rd drive link 24 and input/output port 25, the first drive link described in the bolt connection of the rotating disk 5
21 one end, and drive first drive link 21 around the central axis of the rotating disk 5, first drive link 21 it is another
End pivoting connects one end of second drive link 22, the pivotally connected three-dimensional connector of the other end of second drive link 22
23。
The three-dimensional connector 23 have T-shaped connecting portion and can rotation, it is detailed, as shown in accompanying drawing 3- accompanying drawings 4, described three
Include pivot 234 to connector 23, a support beam 26 of the pivot 234 in the support frame as described above and its extend to it is described
Region periphery outside support beam 26 is set with graphite bearing 235, and the graphite bearing 235 includes different first of exradius
Torus and the second torus, and the two ends of the graphite bearing 235 connect thrust bearing 236, the graphite bearing respectively
235th, thrust bearing 236 and two fixing nuts 237 for being bolted to the two ends of the pivot 234 coordinate the pivot 234
It is fixed in the support beam 26, and away from the fixing nut 237 farther out of support beam 26 and thrust bearing 236 and away from branch
It is respectively arranged with pad 239 between support crossbeam thrust bearing 236 farther out and support beam 26, the of the graphite bearing 235
One torus periphery branch sleeve 238, it is T-shaped on the sleeve 238 that first connecting rod 231, second connecting rod 232 and the 3rd is distributed with
Connecting rod 233, and the first connecting rod 231 and third connecting rod 233 are in same direction extension, while it is preferred that the first connecting rod
231st, second connecting rod 232 and third connecting rod 233 are welded with the sleeve 238 respectively.
Second drive link 22 connects the first connecting rod 231, and the second connecting rod 232 connects a deflecting roller 1, and
And the deflecting roller 1 can the second connecting rod 232 rotation relatively, pivotally connected 3rd drive link 24 of the third connecting rod 233
One end, the pivotally connected input/output port 25 of the other end of the 3rd drive link 24, the input/output port 25 can rotation, specifically
, the structure of the input/output port 25 is close with the structure of the three-dimensional connector 23, and difference is：It only has two connections
Bar, i.e., the orthogonal connecting rod 252 of head rod 251 and second, and the pivot of the input/output port 25 is rotatable
Be arranged in another support beam 26, corresponding, two above-mentioned axis of rotation are the three-dimensional connector 23 and to be bi-directionally connected
The central shaft of the pivot of device 25.
3rd drive link 24 is the pivotally connected head rod 251, and second connecting rod 252 connects another
Individual deflecting roller 1, the deflecting roller 1 equally can second connecting rod 252 rotation relatively.
In addition, from it is described steering bindiny mechanism 2 overall structure from the point of view of, first drive link 21, first connecting rod 231,
Third connecting rod 233, head rod 251 are parallel to each other and parallel with the deflecting roller 1, and second drive link 22 and the 3rd is passed
Lever 24 is parallel.
Meanwhile, it is pivotally connected for the ease of carrying out, as shown in Figure 3, the drive link 24 of second drive link 22 and the 3rd
Include center-pole 210 and be bolted to the connector 220 at the two ends of the center-pole 210, the connector 220 includes circle
Ring pivot connection.
During specific connection, so that second drive link 22 and the first connecting rod 231 are connected as an example, as shown in Figure 5, institute
The annulus pivot connection for stating the one end of the second drive link 22 is sleeved on the outer ring of a spherical bearing 30, the spherical bearing 30
Inner ring is fixed on a bolt 10, the through hole that the bolt 10 is set on the first connecting rod 231, and with a locking screw
Female 20 coordinate the first connecting rod 231 are fitted with an end face of the spherical bearing, the locking nut 20 and spherical axis
Pad is additionally provided between another end face for holding.
Also, the extreme position in order to effectively carry out steering angle and steering is controlled, as shown in Figure 2, institute
Stating AGV steering mechanism also includes at least 3 proximity transducers 9 being fixed on support frame as described above at equal intervals by installing plate 8,
Preferably 3 and their central point are located along the same line, and the bearing of trend of the straight line and second drive link 22
Bearing of trend is identical, in non-steering state, centrally located proximity transducer 9 be connected first drive link 21 and
The bolt of the second drive link 22 is coaxial.
Further, in order to improve the damping performance of vehicle, as shown in Figure 5, be additionally provided with the support beam 26 to
Few two dampers 6 for being located at the both sides of the motor 3, the connection vehicle body of the damper 6（Not shown in figure）, also, preferably institute
State between damper 6 and support beam 26 and/or vehicle body is chain connection.
Specifically, as shown in Figure 5, the damper 6 includes the first articulated section 61 and articulated section 62, first hinge
One end of socket part 61 is pivotally connected in the support beam 26 by bolt, nut and support, first articulated section 61
Telescopically one end of the second articulated section 62 described in grafting in the other end, naturally it is also possible to which the other end of first articulated section is inserted
It is connected in second articulated section, the other end pivotally connected of second articulated section 62 is used to connect the connector of vehicle body
63, also, the two ends of a spring 64 are separately fixed at the spring fixed tray of first articulated section 61 and second articulated section
On 62 spring fixed tray, when run into jolt road conditions when, in the shock absorber 6 spring 64 compression ensure vehicle body it is steady.
Finally, be additionally provided with axial connecting assembly 7 in the support beam 26, the axial connecting assembly 7 and vehicle body it
Between be chain connection, therefore, when there are vibrations, the deformation that can be connected through the hinge is come the buffering vibrated.
When AGV steering mechanism of the invention works, by taking accompanying drawing 5 as an example, when needing to turn right, the power warp of the motor 3
The rotating disk 5 is passed to after crossing the reductor 4, the rotating disk 5 rotates clockwise drive first drive link 21 and rotates, institute
When stating the rotation of the first drive link 21, second drive link 22 is pulled to be moved to the direction of deflecting roller 1 on the left side, second transmission
The movement of bar 22 pulls the sleeve 238 in the three-dimensional connector 23 to produce rotation again, so as to drive and the three-dimensional connector
The deflecting roller 1 of 23 connections is rotated clockwise（Turn right）, meanwhile, the clockwise of the third connecting rod 233 of the three-dimensional connector 23 turns
It is dynamic to pull the 3rd drive link 24 to be moved to the direction of deflecting roller 1 on the right, with the movement of the 3rd drive link 24, pull
The sleeve rotation of the input/output port 25, so as to drive connected another deflecting roller 1 to rotate clockwise（Turn right）, and then
Realize turning to.
The process of left-hand rotation is identical with said process principle, and difference is in opposite direction, be will not be repeated here.
All technical sides that the present invention still has numerous embodiments, all use equivalents or an equivalent transformation and formed
Case, is within the scope of the present invention.
Claims (10)
1.AGV steering mechanism, including a pair coaxial deflecting rollers（1）, it is characterised in that：Deflecting roller described in a pair（1）By list
Individual motor（3）The steering bindiny mechanism of driving（2）Connect and be synchronized with the movement to same direction, the steering bindiny mechanism（2）With
Two deflecting rollers（1）The part of connection can turn under rotation, and non-steering state described in two parallel axis of rotation and two
To wheel（1）Central point be generally aligned in the same plane in.
2. AGV steering mechanism according to claim 1, it is characterised in that：The motor（3）By being fixed on support frame
Reductor（4）And rotating disk（5）Connect the steering bindiny mechanism（2）.
3. AGV steering mechanism according to claim 2, it is characterised in that：The steering bindiny mechanism（2）Including one end with
The rotating disk（5）First drive link of connection（21）, first drive link（21）Pivotally connected second drive link of the other end
（22）One end, second drive link（22）The other end it is pivotally connected with T-shaped connecting portion and can rotation three-dimensional connection
Device（23）First connecting rod（231）, the three-dimensional connector（23）Second connecting rod（232）Connect a deflecting roller（1）, it
Three connecting rods（233）Pivotally connected 3rd drive link（24）One end, the 3rd drive link（24）The other end it is pivotally connected double
To connector（25）Head rod（251）, the input/output port（25）Can rotation and its second connecting rod（252）Connection
Another deflecting roller（1）, first drive link（21）, first connecting rod（231）, third connecting rod（233）, head rod
（251）Be parallel to each other and with the deflecting roller（1）It is parallel, second drive link（22）With the 3rd drive link（24）It is parallel.
4. AGV steering mechanism according to claim 3, it is characterised in that：Second drive link（22）And the 3rd transmission
Bar（24）Include center-pole（210）And it is bolted to the center-pole（210）The connector at two ends（220）, the company
Fitting（220）Including annulus pivot connection.
5. AGV steering mechanism according to claim 4, it is characterised in that：The three-dimensional connector（23）Including pivot
（234）, the pivot（234）Through a support beam（26）And its periphery is set with graphite bearing（235）, the graphite bearing
（235）Two ends connect thrust bearing respectively（236）, the graphite bearing（235）, thrust bearing（236）With bolt connection institute
State pivot（234）Fixing nut（237）Coordinate the pivot（234）It is fixed on the support beam（26）On, the stone
Black bearing（235）Periphery branch sleeve（238）, the sleeve（238）It is upper that the first connecting rod is set（231）, second connecting rod
（232）And third connecting rod（233）.
6. AGV steering mechanism according to claim 5, it is characterised in that：The first connecting rod（231）, second connecting rod
（232）And third connecting rod（233）Respectively with the sleeve（238）Welding.
7. AGV steering mechanism according to claim 6, it is characterised in that：The motor（3）Output shaft axle center to institute
State three-dimensional connector（23）The distance of the axis of rotation arrive the input/output port equal to it（25）The axis of rotation distance.
8. according to any described AGV steering mechanism of claim 3-7, it is characterised in that：3 are placed equidistant on support frame as described above
Proximity transducer（9）, the line of their central point is a bearing of trend and second drive link（22）Bearing of trend is identical
Straight line, during non-steering state, centrally located proximity transducer（9）Be connected first drive link（21）With second
Drive link（22）Bolt it is coaxial.
9. AGV steering mechanism according to claim 5, it is characterised in that：The support beam（26）On be additionally provided with to
Few two are located at the motor（3）The damper of both sides（6）, the damper（6）With support beam（26）And/or between vehicle body
It is chain connection.
10. AGV steering mechanism according to claim 9, it is characterised in that：The support beam（26）On be additionally provided with axle
To connecting assembly（7）, the axial connecting assembly（7）It is chain connection between vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710135181.2A CN106864586A (en) | 2017-03-08 | 2017-03-08 | Agv steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710135181.2A CN106864586A (en) | 2017-03-08 | 2017-03-08 | Agv steering mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106864586A true CN106864586A (en) | 2017-06-20 |
Family
ID=59170629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710135181.2A Pending CN106864586A (en) | 2017-03-08 | 2017-03-08 | Agv steering mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106864586A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640716A (en) * | 2019-11-07 | 2020-01-03 | 江西清研智虎机器人有限公司 | Mobile robot chassis |
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| CN206606258U (en) * | 2017-03-08 | 2017-11-03 | 苏州易摩物联科技有限公司 | Agv steering mechanism |
-
2017
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|---|---|---|---|---|
| AU4188578A (en) * | 1977-11-25 | 1979-05-31 | Lansing Bagnall Ltd. | Steering linkages |
| CA2037836A1 (en) * | 1990-03-08 | 1991-09-09 | Joseph C. Hurlburt | Steering mechanism for tractors |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640716A (en) * | 2019-11-07 | 2020-01-03 | 江西清研智虎机器人有限公司 | Mobile robot chassis |
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Effective date of registration: 20210219 Address after: Room 1002, building 4, Donghu Linyu garden, Suzhou Industrial Park, Jiangsu Province Applicant after: Zhang Tianshan Address before: 2 / F, building B, 93 Weihe Road, Suzhou Industrial Park, Jiangsu Province Applicant before: SUZHOU EASYMORE IOT TECHNOLOGY Co.,Ltd. |
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Application publication date: 20170620 |