CN106882040B - Traction type AGV dolly - Google Patents
Traction type AGV dolly Download PDFInfo
- Publication number
- CN106882040B CN106882040B CN201710028042.XA CN201710028042A CN106882040B CN 106882040 B CN106882040 B CN 106882040B CN 201710028042 A CN201710028042 A CN 201710028042A CN 106882040 B CN106882040 B CN 106882040B
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- fixed
- frame
- guide sleeve
- box
- damping
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
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- 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
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- 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
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- 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
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- 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 traction type AGV trolley, which comprises a frame, wherein four sets of self-powered wheel type driving devices are arranged at the bottom of the frame, a push rod device for pushing up goods is arranged in the frame, a damping device which enables the wheel type driving devices to be always kept completely grounded is arranged between the frame and each wheel type driving device, one end of the damping device is fixed at the bottom end of the frame, and the other end of the damping device is fixed on the driving device. The invention can effectively drag the goods shelf provided with the omnidirectional wheels, reduces the rigidity of the output wheels of the device by using the damping device, avoids the unstable phenomenon in the hauling process caused by uneven road surface, and increases the running stability and reliability of the hauling device.
Description
Technical Field
The invention relates to a traction type AGV trolley which is particularly suitable for traction of a goods shelf with omni-directional wheels, is particularly suitable for use in an uneven road condition environment, and can ensure stability in the traction process of the goods shelf.
Background
AGVAutomated Guided Vehicle, namely an automatic navigation trolley, is an unmanned automatic transport device equipped with an electromagnetic, optical or visual automatic navigation device, which can recognize a track path and a sign position, and automatically run according to a preset path to complete transport operation. Along with the vigorous development of logistics industry, the AGV dolly has been used slowly, and ordinary AGV adopts 4 rounds of or 4 round structures, and drive wheel module is integrated together, and the module can only be adjusted integrally, can not single wheel adapt to ground and automatic adjustment, decides a planar principle according to three points, when running on uneven ground, has at least one wheel to be unable to contact ground completely, can make the automobile body motion unstable, and this has brought motion control's difficulty to two drive wheel differential motion. The AGV trolley can be used for carrying raw materials or cargoes, and as the weight of carried objects increases, a motor used by the common AGV trolley is difficult to drive a vehicle body to carry heavy objects. At present, most of the driving modules of the AGVs adopt direct current motors, the rotating speed of the direct current motors is high, the torque is small, and the requirements of low speed and large torque of the driving wheels of the AGVs can be met only by installing a speed reducing mechanism. Some drive modules even require a 2-stage or more speed reduction mechanism, which can be complicated, low in reliability, and inconvenient to maintain. The overall size of the driving module of the AGV cannot be further reduced due to the limitation of the direct current motor and the speed reducing mechanism, and the development and popularization of the AGV technology are limited. The invention aims at the problems, designs a traction type AGV trolley which is suitable for traction of a goods shelf with omni-directional wheels, is particularly suitable for use in an environment with uneven road conditions, and ensures the stability of the traction process of the goods shelf.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide the traction type AGV trolley which is simple in structure, convenient to maintain and particularly suitable for guaranteeing stable traction of a goods shelf in an environment with uneven road conditions.
The invention is realized by the following technical scheme:
the utility model provides a towed AGV dolly, includes the frame, the bottom of frame be provided with four sets of wheeled drive arrangement from taking power, be provided with the ejector pin device that is used for jack-up goods in the frame, be provided with the damping device who makes wheeled drive arrangement remain completely ground all the time between frame and each wheeled drive arrangement, damping device one end is fixed in the frame bottom, and the other end is fixed in on the drive arrangement.
Further, the frame include base, supporting seat and shell, the supporting seat pass through the bolt fastening in the base top for support the required space of installation battery box and control panel, the shell cover is equipped with the removable cover around the supporting seat, the top.
Further, the wheel type driving device comprises a driving motor, a speed reducer, a damping box and an output wheel, wherein the speed reducer is a right-angle planetary speed reducer, the driving motor is connected with an input shaft of the speed reducer, an input end of the damping box is connected with an output shaft of the speed reducer, and the output wheel is fixedly connected with an output end of the damping box.
Further, the shock-absorbing box comprises a rotating shaft, a bearing and a box body, wherein the rotating shaft is rotatably arranged in the box body through the bearing, one end of the rotating shaft is connected with an output shaft of the speed reducer, and the other end of the rotating shaft is connected with an output wheel.
Further, the damping device comprises an L-shaped fixing frame, a spring and a fixing guide post, wherein the fixing frame is fixedly connected to the base through a bolt and used for fixing the whole damping device; the fixed guide post passes through the through hole of the horizontal part of the fixing frame and is in sliding fit with the through hole, the lower end of the fixed guide post is fixedly connected to the shock absorption box through threads, the upper end of the fixed guide post is provided with a limiting device with the diameter larger than that of the through hole, the spring is sleeved on the fixed guide post and tightly abuts against the space between the fixing frame and the shock absorption box, and the vertical part of the fixing frame is in sliding contact with the side surface of the shock absorption box.
Further, the damping device also comprises a support guide block and a support guide block pressing plate, wherein the upper end of the support guide block is symmetrically and vertically fixed on two sides of the fixing frame; the support guide block pressing plate is fixed on the shock absorption box and forms a moving pair with the support guide block, so that the shock absorption box moves up and down along the support guide block. The moving pair plays a role in guiding the motion of the shock absorption box, and ensures that the shock absorption box moves up and down along the support guide block.
Further, the limiting device comprises a spring guide sleeve clamping ring, and an annular groove matched with the spring guide sleeve clamping ring is formed in the upper end of the fixed guide post along the circumferential direction.
Further, a bracket guide sleeve is fixedly arranged in the through hole of the fixing frame, and a self-lubricating bearing which is in sliding fit with the fixing guide post is arranged on the inner wall of the bracket guide sleeve, so that the durability and the reliability are improved.
Further, the support guide sleeve is T-shaped, an external thread matched with the round nut is arranged at the smaller end of the support guide sleeve, the support guide sleeve is fixed in the through hole of the fixing frame through the round nut and the stop washer, and an inner stepped part for preventing the self-lubricating bearing from falling is arranged in the support guide sleeve. The stop washer prevents the round nut from loosening, ensures that the support guide sleeve is fastened on the fixing frame, and the connection mode of the support guide sleeve is convenient for installation, disassembly and maintenance.
Further, the ejector rod device comprises a push rod motor, an extension rod and an extension rod guide sleeve, wherein the push rod motor is fixed on the base, the extension rod guide sleeve is fixed below the shell, one end of the extension rod is fixedly connected to an output shaft of the push rod motor through a pin, and a chamfer which is convenient for the extension rod to move up and down in the extension rod guide sleeve is arranged at the other end of the extension rod.
Compared with the prior art, the power of the invention is transmitted to the output wheels by the driving motor through the speed reducer and the damping box, the four wheels are driven by the four driving motors, the output wheels can be driven by the four motors at different rotating speeds to realize different motions, the damping box is provided with the damping module above, one surface of the damping box is contacted with the plane of the fixing frame of the damping module, the acting force of moment generated by the bearing of the AGV trolley on the fixing guide post can be reduced, the walking stability of the AGV trolley is improved, the push rod motor is vertically arranged on the frame, the output shaft of the push rod motor is connected with the extension rod, the other end of the extension rod is provided with a chamfer, and the extension rod can move up and down in the guide sleeve of the extension rod. The extension bar drives the goods shelves to move together by supporting the lower part of the goods shelves with the omnidirectional wheels, thereby reducing the bearing of the AGV trolley and realizing the carrying of goods. The invention can effectively drag the goods shelf provided with the omnidirectional wheels, reduces the rigidity of the output wheels of the device by using the damping device, avoids the unstable phenomenon in the hauling process caused by uneven road surface, and increases the running stability and reliability of the hauling device.
Drawings
FIG. 1 is an isometric view of an embodiment of the invention.
Fig. 2 is an isometric view of fig. 1 with the housing removed.
Fig. 3 is an axial schematic view of a driving device and a damping device according to an embodiment of the invention.
Fig. 4 is a schematic view of a driving device and a damping device according to an embodiment of the invention.
Fig. 5 is a schematic cross-sectional view in the direction A-A of fig. 4.
Fig. 6 is a schematic axial view of the ejector rod device.
The figure shows: the automatic feeding device comprises a 1-shell, a 2-movable cover plate, a 3-base, a 4-supporting seat, a 5-output wheel, a 6-fixing frame, a 7-support guide block, an 8-spring guide sleeve clamping ring, a 9-fixing guide pillar, a 10-stop washer, an 11-round nut, a 12-driving motor, a 13-speed reducer, a 14-damping box, a 15-extension rod, a 16-battery box, a 17-extension rod guide sleeve, a 18-spring, a 19-support guide sleeve, a 20-self-lubricating bearing, a 21-support guide block pressing plate and a 22-push rod motor; 23-rotating shaft; 24-bearing; 25-box body.
Detailed Description
The present invention will be described in detail with reference to specific embodiments and drawings.
As shown in fig. 1 and 2, a traction type AGV trolley comprises a frame, four sets of self-powered wheel type driving devices are arranged at the bottom of the frame, a push rod device for pushing up cargoes is arranged in the frame, a damping device which enables the wheel type driving devices to always keep full landing is arranged between the frame and each wheel type driving device, one end of the damping device is fixed at the bottom end of the frame, and the other end of the damping device is fixed on the driving device.
Specifically, in this embodiment, the frame include base 3, supporting seat 4 and shell 1, supporting seat 4 pass through the bolt fastening in base 3 top for support the required space of installation battery box 16 and control panel, shell 1 cover is around supporting seat 4, the top is equipped with removable cover 2 that can flip up and down, the convenience is to the inspection of internal circuit and the change of battery.
Specifically, as shown in fig. 3, in this embodiment, the wheel driving device includes a driving motor 12, a speed reducer 13, a damper box 14 and an output wheel 5, the speed reducer 13 is a right-angle planetary speed reducer, the driving motor 12 is connected with an input shaft of the speed reducer 13, an input end of the damper box 14 is connected with an output shaft of the speed reducer 13, and the output wheel 5 is fixedly connected with an output end of the damper box 14. The driving motor 12 is connected with the shock absorption box 14 through a right-angle planetary reducer, and the width of the AGV trolley can be greatly reduced.
Specifically, as shown in fig. 5, in this embodiment, the damper box 14 includes a rotating shaft 23, a bearing 24, and a box 25, where the rotating shaft 23 is rotatably disposed in the box 25 through the bearing 24, and one end of the rotating shaft 23 is connected to the output shaft of the speed reducer 13, and the other end is connected to the output wheel 5. The power of the driving motor 12 is transmitted to the output wheel 5 through the speed reducer 13 and the rotating shaft 23 of the damping box 14 in sequence, and the AGV trolley is driven to move.
Specifically, as shown in fig. 3 to 5, in this embodiment, the damping device includes an L-shaped fixing frame 6, a spring 18, and a fixing guide post 9, where the fixing frame 6 is fixedly connected to the base 3 by a bolt, and is used for fixing the whole damping device; the fixed guide column 9 penetrates through the through hole of the horizontal part of the fixing frame 6 and is in sliding fit with the through hole, the lower end of the fixed guide column 9 is fixedly connected to the damping box 14 through threads, the upper end of the fixed guide column 9 is provided with a limiting device with the diameter larger than that of the through hole, the limiting device comprises a spring guide sleeve clamping ring 8, and the upper end of the fixed guide column 9 is circumferentially provided with an annular groove matched with the spring guide sleeve clamping ring 8. The spring 18 is sleeved on the fixed guide post 9 and tightly abuts against the space between the fixed frame 6 and the shock absorption box 14, and the vertical part of the fixed frame 6 is in sliding contact with the side surface of the shock absorption box 14, so that the action of moment generated by bearing on the fixed guide post 9 is reduced.
Specifically, as shown in fig. 3, in this embodiment, the damping device further includes a bracket guide block 7 and a bracket guide block pressing plate 21, and the upper ends of the bracket guide blocks 7 are symmetrically and vertically fixed at two sides of the fixing frame 6; the support guide block pressing plate 21 is fixed on the shock absorbing box 14 and forms a moving pair with the support guide block 7 for enabling the shock absorbing box 14 to move up and down along the support guide block 7. The moving pair plays a role in guiding the movement of the shock absorbing box 14, and ensures that the shock absorbing box 14 moves up and down along the support guide block 7.
Specifically, as shown in fig. 5, in this embodiment, a bracket guide sleeve 19 is fixedly disposed in the through hole of the fixing frame 6, the bracket guide sleeve 19 is T-shaped, an external thread matched with the round nut 11 is disposed at the smaller end of the bracket guide sleeve 19, the bracket guide sleeve 19 is fixed in the through hole of the fixing frame 6 through the round nut 11 and the stop washer 10, at this time, the lower end of the spring 18 props against the damping box 14, and the upper end props against the bracket guide sleeve 19. The inner wall of the support guide sleeve 19 is provided with a self-lubricating bearing 20 in sliding fit with the fixed guide post 9, and an inner step part for preventing the self-lubricating bearing 20 from falling is arranged in the support guide sleeve 19. The stop washer 10 prevents the round nut 11 from loosening, ensures that the bracket guide sleeve 19 is fastened on the fixed frame 6, and the connection mode of the bracket guide sleeve 19 is convenient for installation, disassembly and maintenance, thereby improving the durability and the reliability.
Specifically, as shown in fig. 6, in this embodiment, the ejector rod device includes a push rod motor 22, an extension rod 15 and an extension rod guide sleeve 17, the push rod motor 22 is fixed on the base 3, the extension rod guide sleeve 17 is fixed below the housing 1, one end of the extension rod 15 is fixedly connected to an output shaft of the push rod motor 22 through a pin, and a chamfer which is convenient for the extension rod 15 to move up and down in the extension rod guide sleeve 17 is arranged at the other end.
The power of this embodiment is passed through speed reducer and damper box by driving motor and is transmitted to the output wheel, and four wheels pass through four driving motor drive, and four motor rotational speed's different drivable output wheels realize different motions, and damper box top is provided with damping device, damper box one side and damping module's mount plane contact, reducible moment to the effort of fixed guide pillar because AGV dolly bearing produces, makes four wheels even when uneven ground moves, every can all contact ground completely, improves the stability that the AGV dolly walked.
The above embodiments are only preferred examples of the present invention and are not intended to limit the embodiments of the present invention, and other variations and modifications of the present invention may be made by those skilled in the art based on the above description, and it is not necessary or impossible to make an exhaustive list of all the embodiments, and any modification, equivalent replacement, improvement etc. which are within the spirit and principle of the present invention are included in the scope of the claims of the present invention.
Claims (6)
1. The utility model provides a towed AGV dolly, includes frame, its characterized in that: four sets of self-powered wheel type driving devices are arranged at the bottom of the frame, a push rod device for jacking up goods is arranged in the frame, a damping device which enables the wheel type driving devices to be always kept completely grounded is arranged between the frame and each wheel type driving device, one end of the damping device is fixed at the bottom end of the frame, and the other end of the damping device is fixed on the driving device;
the wheel type driving device comprises a driving motor (12), a speed reducer (13), a damping box (14) and an output wheel (5), wherein the speed reducer (13) is a right-angle planetary speed reducer, the driving motor (12) is connected with an input shaft of the speed reducer (13), the input end of the damping box (14) is connected with an output shaft of the speed reducer (13), and the output wheel (5) is fixedly connected with the output end of the damping box (14);
the damping device comprises an L-shaped fixing frame (6), a spring (18) and a fixed guide post (9), wherein the fixing frame (6) is fixedly connected to a base (3) through a bolt, the fixed guide post (9) penetrates through a through hole of the horizontal part of the fixing frame (6) and is in sliding fit with the through hole, the lower end of the fixed guide post (9) is fixedly connected to a damping box (14) through threads, the upper end of the fixed guide post is provided with a limiting device with the diameter larger than that of the through hole, the spring (18) is sleeved on the fixed guide post (9) and tightly abuts against the position between the fixing frame (6) and the damping box (14), and the vertical part of the fixing frame (6) is in sliding contact with the side surface of the damping box (14);
the damping device also comprises a bracket guide block (7) and a bracket guide block pressing plate (21), wherein the upper end of the bracket guide block (7) is symmetrically and vertically fixed on two sides of the fixing frame (6); the support guide block pressing plate (21) is fixed on the shock absorption box (14) and forms a moving pair with the support guide block (7) for enabling the shock absorption box (14) to move up and down along the support guide block (7);
the limiting device comprises a spring guide sleeve clamping ring (8), and an annular groove matched with the spring guide sleeve clamping ring (8) is formed in the upper end of the fixed guide pillar (9) along the circumferential direction.
2. The towed AGV of claim 1, wherein: the frame include base (3), supporting seat (4) and shell (1), supporting seat (4) pass through bolt fastening in base (3) top for support the required space of installation battery box (16) and control panel, shell (1) cover is around supporting seat (4), the top is equipped with movable cover plate (2).
3. The towed AGV of claim 1, wherein: the damping box (14) comprises a rotating shaft (23), a bearing (24) and a box body (25), wherein the rotating shaft (23) is rotatably arranged in the box body (25) through the bearing (24), one end of the rotating shaft (23) is connected with an output shaft of the speed reducer (13), and the other end of the rotating shaft is connected with the output wheel (5).
4. The towed AGV of claim 1, wherein: a bracket guide sleeve (19) is fixedly arranged in the through hole of the fixing frame (6), and a self-lubricating bearing (20) which is in sliding fit with the fixing guide post (9) is arranged on the inner wall of the bracket guide sleeve (19).
5. The towed AGV of claim 4, wherein: the support guide sleeve (19) is T-shaped, an external thread matched with the round nut (11) is arranged at the smaller end of the diameter of the support guide sleeve, the support guide sleeve (19) is fixed in a through hole of the fixing frame (6) through the round nut (11) and the stop washer (10), and an inner stepped part for preventing the self-lubricating bearing (20) from falling is arranged in the support guide sleeve (19).
6. The towed AGV of claim 1, wherein: the ejector rod device comprises a push rod motor (22), an extension rod (15) and an extension rod guide sleeve (17), wherein the push rod motor (22) is fixed on a base (3), the extension rod guide sleeve (17) is fixed below a shell (1), one end of the extension rod (15) is fixedly connected to an output shaft of the push rod motor (22) through a pin, and a chamfer which is convenient for the extension rod (15) to move up and down in the extension rod guide sleeve (17) is arranged at the other end of the extension rod.
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 |
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| CN106882040A CN106882040A (en) | 2017-06-23 |
| CN106882040B true CN106882040B (en) | 2023-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710028042.XA Active CN106882040B (en) | 2017-01-16 | 2017-01-16 | Traction type AGV dolly |
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| CN (1) | CN106882040B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107280341A (en) * | 2017-07-10 | 2017-10-24 | 王小改 | It is a kind of to be easy to mobile ferric sulfate sale to sell frame |
| 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 |
| 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 |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10345987B4 (en) * | 2003-10-02 | 2016-01-07 | Volkswagen Ag | Spring damper arrangement with level adjustment |
| DE102008041114B3 (en) * | 2008-08-08 | 2010-04-22 | Zf Friedrichshafen Ag | Vibration damper with a tension stop spring |
| CN103412593B (en) * | 2013-08-16 | 2016-04-20 | 成都四威高科技产业园有限公司 | Submarine AGV moves transfer robot |
| CN205632011U (en) * | 2016-03-29 | 2016-10-12 | 杭州瓦瑞科技有限公司 | AGV shock attenuation drive module |
| CN106004298A (en) * | 2016-06-30 | 2016-10-12 | 华南理工大学 | AGV (automatic guided vehicle) elastic support driving device using hub motor and AGV |
| 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 |
| CN106183681A (en) * | 2016-08-01 | 2016-12-07 | 山东建筑大学 | Omni-directional moving platform with damping device |
| CN206416844U (en) * | 2017-01-16 | 2017-08-18 | 华南理工大学 | A kind of towed AGV dollies |
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2017
- 2017-01-16 CN CN201710028042.XA patent/CN106882040B/en active Active
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| CN106882040A (en) | 2017-06-23 |
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