CN106882040A - A kind of towed AGV dollies - Google Patents
A kind of towed AGV dollies Download PDFInfo
- Publication number
- CN106882040A CN106882040A CN201710028042.XA CN201710028042A CN106882040A CN 106882040 A CN106882040 A CN 106882040A CN 201710028042 A CN201710028042 A CN 201710028042A CN 106882040 A CN106882040 A CN 106882040A
- Authority
- CN
- China
- Prior art keywords
- fixed
- surge tank
- vehicle frame
- agv dollies
- pin bushing
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
- B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
- B60P7/135—Securing or supporting by load bracing means
- B60P7/15—Securing or supporting by load bracing means the load bracing means comprising a movable bar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Vibration Prevention Devices (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of towed AGV dollies, including vehicle frame, the bottom of described vehicle frame is provided with four sets of self-powered wheel type drive devices, the pin-lift arrangement for jack-up goods is provided with the vehicle frame, being provided between the vehicle frame and each wheel type drive device makes wheel type drive device remain the damping device for landing completely, vehicle frame bottom is fixed in described damping device one end, and the other end is fixed in drive device.The present invention can be effectively to being provided with omni-directional wheel shelf draw, the rigidity of the device output wheel is reduced using damping device, it is to avoid due to Uneven road cause haul during wild effect, increase the transfer arrangement operation stability and reliability.
Description
Technical field
Possess towed AGV dollies the present invention relates to one kind, be particularly suited for the traction of the shelf equipped with omni-directional wheel, especially
It is useful in the uneven environment of road conditions, it is ensured that steady in shelf distraction procedure.
Background technology
AGVAutomated Guided Vehicle, i.e. automatic Guided Vehicle, are that one kind is equipped with electromagnetism, optics or regards
The autopilots such as feel, are capable of identify that trajectory path and flag, are run according to autonomous path set in advance, complete to transport
The unmanned automatic transportation equipment of operation.With flourishing for logistic industry, AGV dollies are slowly applied, general
, mostly using 4 wheels or 4 wheel constructions, driving wheel module is integrated for logical AGV, and module can only integrated regulation, it is impossible to single wheel
Son adapts to ground and adjust automatically, and a principle for plane is determined by 3 points, when the ground handling in out-of-flatness, at least one
Individual wheel can not completely attach to ground, and body movement can be made unstable, and this brings motion for two driving wheel differential motions
The difficulty of control.AGV dollies can be used for the carrying of raw material or goods, common with the increase of carried Item Weight
Motor used by AGV dollies is difficult to drive car body to carry overweight article.At present, the drive module major part of AGV employs direct current
Motor, the rotating speed of direct current generator is high, moment of torsion is small, and will typically install reducing gear could meet AGV driving wheels low speed, high pulling torque
Demand.Some drive modules even need 2 grades or more of reducing gear, such mechanism can become complicated, reliability is low,
Safeguard inconvenient.The drive module of AGV causes its overall dimensions further due to the limitation of direct current generator and reducing gear
Reduce, which has limited development and the popularization of AGV technologies.The present invention is directed to the problem present on, designs a kind of towed AGV small
Car, it is adaptable to the traction equipped with omni-directional wheel shelf, in the particularly suitable environment uneven in road conditions, it is ensured that shelf distraction procedure it is flat
Surely.
The content of the invention
For above-mentioned technical problem, the present invention is intended to provide a kind of simple structure, it is easy to maintenance, be particularly well-suited in road conditions
Ensure shelf traction smoothly towed AGV dollies in uneven environment.
The present invention is achieved through the following technical solutions：
A kind of towed AGV dollies, including vehicle frame, the bottom of described vehicle frame are provided with four sets of self-powered in-wheel driving dresses
Put, the pin-lift arrangement for jack-up goods is provided with the vehicle frame, set between the vehicle frame and each wheel type drive device
Having makes wheel type drive device remain the damping device for landing completely, and vehicle frame bottom is fixed in described damping device one end, separately
One end is fixed in drive device.
Further, described vehicle frame includes base, support base and shell, and described support base is bolted on bottom
Seat top, battery case is installed with the space needed for control panel for supporting, and the casing is provided with work in support base surrounding, top
Dynamic cover plate.
Further, the wheel type drive device includes motor, reductor, surge tank and output wheel, and described subtracts
Fast machine is right angle planetary reducer, and motor is connected with the input shaft of reductor, the input and reductor of the surge tank
Output shaft connection, the output wheel is fixedly connected with surge tank output end.
Further, described surge tank includes rotating shaft, bearing, casing, and the rotating shaft is rotatably arranged on case by bearing
In vivo, one end of the rotating shaft connects the output shaft of reductor, other end connection output wheel.
Further, described damping device includes L-shaped fixed mount, spring, fixed guide pillar, and described fixed mount passes through spiral shell
Bolt is fixedly connected on base, for the fixation of whole damping device；The fixed guide pillar leads to through the horizontal part of fixed mount
Hole is simultaneously slidably matched therewith, and the fixed guide pillar lower end is threadably secured and is connected on surge tank, and it is big that upper end is provided with diameter
In the stopping means of the through hole, the spring housing is on fixed guide pillar and is closely against between fixed mount and surge tank, described solid
Determine frame vertical portion and the sliding contact of surge tank side.
Further, described damping device also includes support guide block, support guide block pressing plate, the support guide block upper end pair
Ground is claimed to be fixed on fixed mount both sides vertically；The support guide block pressing plate is fixed on surge tank, and being formed with support guide block makes damping
The prismatic pair that case moves up and down along the support guide block.The guiding function of having moved of the prismatic pair to surge tank, it is ensured that subtract
Shake case moves up and down along the support guide block.
Further, described stopping means includes spring guide collar, and the fixed guide pillar upper end edge is circumferentially provided with
The annular groove being engaged with the spring guide collar.
Further, support guide pin bushing, described support guide pin bushing inwall are further fixedly arranged in the through hole of described fixed mount
The self-lubricating bearing being slidably matched with the fixed guide pillar is provided with, so as to improve durability and reliability.
Further, described support guide pin bushing is in T shape, and the smaller one end of its diameter is provided be engaged with round nut outer
Screw thread, described support guide pin bushing is fixed in the through hole of the fixed mount by round nut and stop washer, the support guide pin bushing
Inside it is provided with the inner step portion for preventing self-lubricating bearing from dropping.Stop washer prevents round nut from loosening, it is ensured that support guide pin bushing is tight
Gu on fixed mount, the connected mode of support guide pin bushing is convenient to be installed, dismantle and safeguards.
Further, described pin-lift arrangement includes push-rod electric machine, extension bar and extension bar guide pin bushing, described push-rod electric machine
It is fixed on base, the extension bar guide pin bushing is fixed on shell lower section, and described extension bar one end is fixedly connected on by pin and pushed away
On bar motor output shaft, the other end is provided with the chamfering for facilitating extension bar to be moved up and down in extension bar guide pin bushing.
Compared to existing technology, power of the invention passes to output wheel, four by motor by reductor and surge tank
Individual wheel is driven by four motors, and the difference of four motor speeds can drive output wheel to realize different motions, damping
Case top is provided with damping module, the fixed mount plane contact of surge tank one side and damping module, it is possible to decrease because AGV dollies hold
The torque for producing again improves the stability of AGV carriage walkings to the active force of fixed guide pillar, vertically-mounted on vehicle frame to have push rod electricity
Machine, push-rod electric machine output shaft connection extension bar, the extension bar other end is provided with chamfering, can be moved up and down in extension bar guide pin bushing.Plus
Stock passes through to withstand the lower section of the shelf equipped with omni-directional wheel, drives shelf to move in the lump, so that the load-bearing of AGV dollies is reduced, it is real
The carrying of stock thing.The present invention can be effectively to being provided with omni-directional wheel shelf draw, reduce the device using damping device
The rigidity of output wheel, it is to avoid because Uneven road causes the wild effect during haul, increases transfer arrangement operation
Stability and reliability.
Brief description of the drawings
Fig. 1 is the axonometric schematic diagram of the embodiment of the present invention.
Fig. 2 leaves out the axonometric schematic diagram after shell for Fig. 1.
Fig. 3 is the drive device and damping device axonometric schematic diagram of the embodiment of the present invention.
Fig. 4 is the drive device and the attached view of damping device of the embodiment of the present invention.
Fig. 5 is the schematic cross-sectional view in A-A directions in Fig. 4.
Fig. 6 is pin-lift arrangement axonometric schematic diagram.
Shown in figure：1- shells, 2- removable covers, 3- bases, 4- support bases, 5- output wheels, 6- fixed mounts, 7- supports are led
Block, 8- spring guide collars, 9- fixes guide pillar, 10- stop washers, 11- round nuts, 12- motors, 13- reductors, 14-
Surge tank, 15- extension bars, 16- battery cases, 17- extension bar guide pin bushings, 18- springs, 19- support guide pin bushings, 20- self-lubricating bearings,
21- support guide block pressing plates, 22- push-rod electric machines；23- rotating shafts；24- bearings；25- casings.
Specific embodiment
With reference to specific embodiment and accompanying drawing, the present invention will be described in detail.
As depicted in figs. 1 and 2, a kind of towed AGV dollies, including vehicle frame, the bottom of described vehicle frame is provided with four sets
Self-powered wheel type drive device, is provided with the pin-lift arrangement for jack-up goods in the vehicle frame, the vehicle frame and each
Being provided between wheel type drive device makes wheel type drive device remain the damping device for landing completely, the damping device one
Vehicle frame bottom is fixed at end, and the other end is fixed in drive device.
Specifically, in the present embodiment, described vehicle frame includes base 3, support base 4 and shell 1, described support base 4
The top of base 3 is bolted on, battery case 16 is installed with the space needed for control panel for supporting, the shell 1 is enclosed within
The surrounding of support base 4, top is provided with the removable cover 2 that can be stirred up and down, conveniently to the inspection of internal circuit and battery more
Change.
Specifically, as in Fig. 3 the present embodiment, the wheel type drive device includes motor 12, reductor 13, damping
Case 14 and output wheel 5, described reductor 13 are right angle planetary reducer, and motor 12 connects with the input shaft of reductor 13
Connect, the input of the surge tank 14 is connected with the output shaft of reductor 13, the output wheel 5 is fixed with the output end of surge tank 14
Connection.The motor 12 is connected by right angle planetary reducer with surge tank 14, can significantly reduce the width of AGV dollies.
Specifically, as shown in figure 5, in the present embodiment, described surge tank 14 includes rotating shaft 23, bearing 24, casing 25,
The rotating shaft 23 is rotatably arranged in casing 25 by bearing 24, and one end of the rotating shaft 23 connects the output shaft of reductor 13,
The other end connects output wheel 5.The power of motor 12 sequentially passes through reductor 13, the rotating shaft 23 of surge tank 14 is transferred to output
Wheel 5, drives AGV moving of car.
Specifically, as shown in Fig. 3 to 5, in the present embodiment, described damping device include L-shaped fixed mount 6, spring 18,
Fixed guide pillar 9, described fixed mount 6 is bolted to connection on base 3, for the fixation of whole damping device；It is described
Fixed guide pillar 9 passes through the through hole of the horizontal part of fixed mount 6 and is slidably matched therewith, and the lower end of fixed guide pillar 9 is solid by screw thread
Surely it is connected on surge tank 14, upper end is provided with the stopping means with diameter greater than the through hole, described stopping means includes bullet
Spring guide pin bushing collar 8, the upper end edge of fixed guide pillar 9 is circumferentially provided with the annular groove being engaged with the spring guide collar 8.
The spring 18 is enclosed within fixed guide pillar 9 and is closely against between fixed mount 6 and surge tank 14, the vertical portion of the fixed mount 6 with subtract
The shake side sliding contact of case 14, reduces the effect to fixed guide pillar 9 due to the torque that load-bearing is produced.
Specifically, as shown in figure 3, in the present embodiment, described damping device also includes support guide block 7, support guide block
Pressing plate 21, the upper end of support guide block 7 is symmetrically fixed on the both sides of fixed mount 6 vertically；The support guide block pressing plate 21 is fixed on
On surge tank 14, the prismatic pair for making surge tank 14 be moved up and down along the support guide block 7 is formed with support guide block 7.The movement
The secondary guiding function of having moved to surge tank 14, it is ensured that surge tank 14 moves up and down along the support guide block 7.
Specifically, as shown in figure 5, in the present embodiment, in the through hole of described fixed mount 6 support is further fixedly arranged on to lead
Set 19, described support guide pin bushing 19 is in T shape, and the smaller one end of its diameter is provided with the external screw thread being engaged with round nut 11, institute
The support guide pin bushing 19 stated is fixed in the through hole of the fixed mount 6 by round nut 11 and stop washer 10, now spring 18
Surge tank 14 is withstood in lower end, and support guide pin bushing 19 is withstood in upper end.The described inwall of support guide pin bushing 19 is provided with and the fixed guide pillar 9
The inner step for preventing self-lubricating bearing 20 from dropping is provided with the self-lubricating bearing 20 being slidably matched, the support guide pin bushing 19
Portion.The stop washer 10 prevents round nut 11 from loosening, it is ensured that support guide pin bushing 19 is fastened on fixed mount 6, the support guide pin bushing
19 connected mode is convenient to be installed, dismantle and safeguards, so as to improve durability and reliability.
Specifically, as shown in fig. 6, in the present embodiment, described pin-lift arrangement includes push-rod electric machine 22, the and of extension bar 15
Extension bar guide pin bushing 17, described push-rod electric machine 22 is fixed on base 3, and the extension bar guide pin bushing 17 is fixed on the lower section of shell 1, institute
State the one end of extension bar 15 to be fixedly connected on the output shaft of push-rod electric machine 22 by pin, the other end is provided with and facilitates extension bar 15 adding
The chamfering moved up and down in stock guide pin bushing 17.
The power of the present embodiment passes to output wheel by motor by reductor and surge tank, and four wheels pass through four
Platform motor drives, and the difference of four motor speeds can drive output wheel to realize different motions, and surge tank top is provided with
Damping device, surge tank one side and the fixed mount plane contact of damping module, it is possible to decrease due to the torque that the load-bearing of AGV dollies is produced
To the active force of fixed guide pillar, even if making four wheels in the ground handling in out-of-flatness, each can completely attach to ground,
Improve the stability of AGV carriage walkings.
Above-described embodiment is only preferably example of the invention, is not the restriction to embodiment of the present invention, right
For those of ordinary skill in the art, can also make on the basis of the above description other multi-forms change or
Change, it is all to be made within the spirit and principles in the present invention there is no need and unable to being exhaustive to all of implementation method
Any modification, equivalent and improvement etc., should be included within claims of the invention.
Claims (10)
1. a kind of towed AGV dollies, including vehicle frame, it is characterised in that：The bottom of described vehicle frame is provided with four sets from drive
The wheel type drive device of power, is provided with the pin-lift arrangement for jack-up goods, the vehicle frame and each wheeled drive in the vehicle frame
Being provided between dynamic device makes wheel type drive device remain the damping device for landing completely, and described damping device one end is fixed
In vehicle frame bottom, the other end is fixed in drive device.
2. towed AGV dollies according to claim 1, it is characterised in that：Described vehicle frame includes base (3), support
Seat (4) and shell (1), described support base (4) are bolted on base (3) top, and battery case is installed for supporting
(16) with the space needed for control panel, the shell (1) is enclosed within support base (4) surrounding, and top is provided with removable cover (2).
3. towed AGV dollies according to claim 1, it is characterised in that：The wheel type drive device includes driving electricity
Machine (12), reductor (13), surge tank (14) and output wheel (5), described reductor (13) is right angle planetary reducer, is driven
Motor (12) is connected with the input shaft of reductor (13), and the input of the surge tank (14) connects with the output shaft of reductor (13)
Connect, the output wheel (5) is fixedly connected with surge tank (14) output end.
4. towed AGV dollies according to claim 3, it is characterised in that：Described surge tank (14) is including rotating shaft
(23), bearing (24), casing (25), the rotating shaft (23) are rotatably arranged in casing (25) by bearing (24), the rotating shaft
(23) output shaft of one end connection reductor (13), the other end connects output wheel (5).
5. towed AGV dollies according to claim 3, it is characterised in that：Described damping device includes L-shaped fixed mount
(6), spring (18), fixed guide pillar (9), described fixed mount (6) are bolted to connection on base (3), the fixation
Guide pillar (9) through the horizontal part of fixed mount (6) through hole and be slidably matched therewith, fixed guide pillar (9) lower end pass through screw thread
It is fixedly connected on surge tank (14), upper end is provided with the stopping means with diameter greater than the through hole, the spring (18) is enclosed within
On fixed guide pillar (9) and it is closely against between fixed mount (6) and surge tank (14), fixed mount (6) vertical portion and surge tank
(14) side sliding contact.
6. towed AGV dollies according to claim 5, it is characterised in that：Described damping device is also led including support
Block (7), support guide block pressing plate (21), support guide block (7) upper end are symmetrically fixed on fixed mount (6) both sides vertically；It is described
Support guide block pressing plate (21) is fixed on surge tank (14), and being formed with support guide block (7) makes surge tank (14) be led along the support
The prismatic pair that block (7) moves up and down.
7. towed AGV dollies according to claim 5, it is characterised in that：Described stopping means includes spring guide
Collar (8), fixed guide pillar (9) upper end edge is circumferentially provided with the annular groove being engaged with the spring guide collar (8).
8. towed AGV dollies according to claim 3, it is characterised in that：It is also solid in the through hole of described fixed mount (6)
Surely it is provided with support guide pin bushing (19), described support guide pin bushing (19) inwall is provided with and is slidably matched with the fixed guide pillar (9)
Self-lubricating bearing (20).
9. towed AGV dollies according to claim 8, it is characterised in that：Described support guide pin bushing (19) is in T shape,
The smaller one end of its diameter is provided with the external screw thread being engaged with round nut (11), and described support guide pin bushing (19) is by round nut
(11) and stop washer (10) is fixed in the through hole of the fixed mount (6), be provided with the support guide pin bushing (19) prevent from
The inner step portion that lubrication bearing (20) drops.
10. towed AGV dollies according to claim 2, it is characterised in that：Described pin-lift arrangement includes push-rod electric machine
(22), extension bar (15) and extension bar guide pin bushing (17), described push-rod electric machine (22) are fixed on base (3), the extension bar
Guide pin bushing (17) is fixed on shell (1) lower section, and it is defeated that described extension bar (15) one end is fixedly connected on push-rod electric machine (22) by pin
On shaft, the other end is provided with the chamfering for facilitating extension bar (15) to be moved up and down in extension bar guide pin bushing (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710028042.XA CN106882040B (en) | 2017-01-16 | 2017-01-16 | Traction type AGV dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710028042.XA CN106882040B (en) | 2017-01-16 | 2017-01-16 | Traction type AGV dolly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106882040A true CN106882040A (en) | 2017-06-23 |
| CN106882040B CN106882040B (en) | 2023-06-16 |
Family
ID=59176360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710028042.XA Active CN106882040B (en) | 2017-01-16 | 2017-01-16 | Traction type AGV dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106882040B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127639A (en) * | 2017-12-30 | 2018-06-08 | 南京理工大学 | A kind of goods transportation robot for floor gap |
| CN109050191A (en) * | 2018-08-31 | 2018-12-21 | 华南理工大学 | A kind of wheel group lifting device using Bidirectional-screw |
| WO2019010887A1 (en) * | 2017-07-10 | 2019-01-17 | 王小改 | Mobile sales rack for selling ferric sulfate |
| CN112498520A (en) * | 2020-12-10 | 2021-03-16 | 东风专用设备科技有限公司 | Self-balancing AGV (automatic guided vehicle) with piggyback roller way |
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| CN106184431A (en) * | 2016-07-22 | 2016-12-07 | 江苏高科物流科技股份有限公司 | A kind of self-navigation pulling equipment |
| CN206416844U (en) * | 2017-01-16 | 2017-08-18 | 华南理工大学 | A kind of towed AGV dollies |
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| DE10345987A1 (en) * | 2003-10-02 | 2005-04-21 | Volkswagen Ag | Spring damper arrangement with level adjustment, e.g. for use in motor vehicles, comprises a spring seat which forms a central opening with an internal thread section |
| EP2151598A1 (en) * | 2008-08-08 | 2010-02-10 | ZF Friedrichshafen AG | Vibration absorber with a buffer spring |
| CN103412593A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Submarine AGV movement transferring robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019010887A1 (en) * | 2017-07-10 | 2019-01-17 | 王小改 | Mobile sales rack for selling ferric sulfate |
| CN108127639A (en) * | 2017-12-30 | 2018-06-08 | 南京理工大学 | A kind of goods transportation robot for floor gap |
| CN109050191A (en) * | 2018-08-31 | 2018-12-21 | 华南理工大学 | A kind of wheel group lifting device using Bidirectional-screw |
| CN112498520A (en) * | 2020-12-10 | 2021-03-16 | 东风专用设备科技有限公司 | Self-balancing AGV (automatic guided vehicle) with piggyback roller way |
| CN112498520B (en) * | 2020-12-10 | 2022-03-29 | 东风专用设备科技有限公司 | Self-balancing AGV (automatic guided vehicle) with piggyback roller way |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106882040B (en) | 2023-06-16 |
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