CN108147309A - A kind of AGV floor trucks of band jacking function and its jacking control method - Google Patents
A kind of AGV floor trucks of band jacking function and its jacking control method Download PDFInfo
- Publication number
- CN108147309A CN108147309A CN201711460419.5A CN201711460419A CN108147309A CN 108147309 A CN108147309 A CN 108147309A CN 201711460419 A CN201711460419 A CN 201711460419A CN 108147309 A CN108147309 A CN 108147309A
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- China
- Prior art keywords
- jacking
- carrier frame
- function according
- floor trucks
- component
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0625—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement with wheels for moving around the floor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0633—Mechanical arrangements not covered by the following subgroups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The present invention provides a kind of AGV floor trucks of band jacking function and its jacking control method, the trolley includes horizontal chassis frame, the control cabinet and wheel being respectively arranged on the downside of carrier frame；The upside of the carrier frame is equipped with locating sleeve normal thereto；The guide post that can be moved in vertical direction is equipped in the locating sleeve；The guide post upper end is connected with carrying platform；Sequentially connected jacking component, transmission component and drive component are equipped between the carrier frame and the carrying platform.Technical solution provided by the invention, carrying platform are connect by leading power column and positioning sleeve with the carrier frame；Both having realized can relatively move between carrying platform and column up and down；Realize again carrying platform with carrier frame being relatively fixed in other directions；And jacking component, drive component and power transmission component are equipped between the carrying platform and the carrier frame；Bigger bearing capacity can be provided the carrying platform, and compact structure, stability are high, synchronism is good.
Description
Technical field
The present invention relates to a kind of AGV floor trucks, and in particular to a kind of AGV floor trucks of band jacking function and its jacking
Control method.
Background technology
(Automated Guided Vehicle, abbreviation AGV), also commonly referred to as AGV trolleies refer to equipped with electricity magnetically or optically
Etc. homing guidances device, can travel along defined guide path, have safeguard protection and the transport of various transfer functions
Vehicle.
The working region of AGV need not be laid with the accessories such as track, support saddle frame, also not by place, road and space
Limitation can flexibly be populated into the Automation Bottle Packaging Line production, fully embody the flexibility during its manless production,
Realize production management efficiently, economic.AGV suffers from widely should in manufacturing industry, warehouse logistics, airport and medicine food
With.
The lifting body of existing band jacking function AGV trolleies generally has multi-stage expansion rod-type and two kinds scissor.Multistage is stretched
The flexible shank diameter of contracting rod-type lifting body is generally relatively thin, and upper end loaded area is smaller, applies in general to AGV and runs to specific bit
Postpone use.The jacking ability of scissor lifting body is strong, but structure is not compact, and occupied space is larger.Due to actual demand
Diversity, the requirement to AGV jacking functions are set there is also diversity therefore, it is necessary to carry out new structure to AGV lifting bodies
Meter, to meet the needs of market diversification.
Invention content
In view of the deficiencies of the prior art, the applicant devises AGV floor trucks and its jacking of a kind of band jacking function
Control method；Bigger bearing capacity can be provided the carrying platform, and compact structure, stability are high, synchronism is good.
The purpose of the present invention is what is realized by following technical proposals：
The present invention provides a kind of AGV floor trucks of band jacking function, the trolley includes horizontal chassis frame, difference
Control cabinet and wheel on the downside of carrier frame；The upside of the carrier frame is equipped with locating sleeve normal thereto；It is described
The guide post that can be moved in vertical direction is equipped in locating sleeve；The guide post upper end is connected with carrying platform；The carrier frame
Sequentially connected jacking component, transmission component and drive component are equipped between the carrying platform.
Preferably, it is described jacking component include be arranged in parallel two cushion blocks, be respectively arranged on above the cushion block fixture block,
Allocated catch axis that both ends are connect respectively with two fixture blocks, the arc allocated catch for being fixed on the allocated catch axis, with the allocated catch lower end
The connecting rod of connection, the flake connector for being fixed on the connecting rod other end and the rotating disk being connect with the flake connector；The fish
Eye connector is connect with the rotating disk edge；The middle part of the allocated catch is equipped with axial axis hole, for accommodating the allocated catch axis.
Preferably, the upper end of the allocated catch is set there are two parallel and opposite upper dististyle；The top of described two upper dististyles
Equipped with the axis through the two；The midpoint of the axis is arranged with scroll wheel.
Preferably, the lower end of the allocated catch is set there are one lower end-piece；One end being connect with allocated catch of the connecting rod with it is described
Lower end-piece is rotatablely connected by running through the pivot pin of the two.
Preferably, the transmission component includes gear-box, in gear-box and intermeshing driving gear and driven
Gear, the driving shaft and driven shaft being respectively arranged in the driving gear and the driven gear axis hole；The rotating disk is arranged
With on the driven shaft.
Preferably, the driving component include driving motor, be sheathed on the driving motor output shaft drive sprocket,
By the connecting shaft of shaft coupling and the active axis connection and it is sheathed on the driven sprocket of the connecting shaft；The drive sprocket with
The driven sprocket is connected by chain.
Preferably, the carrier frame is rectangular；Side parallel with it is respectively equipped on the inside of the long side of the rectangle to strengthen
When main reinforcement is equipped between the midpoint of the short side of the, rectangle；Strengthen being equipped with difference between in the main reinforcement in the side
Equipped with short reinforcement side normal thereto.
Preferably, the locating sleeve is respectively arranged on the main both ends for strengthening side.
Preferably, described two cushion blocks are respectively arranged on the long side of the carrier frame and the side is strengthened on side.
Preferably, the number of the jacking component is more than or equal to 4 and about the axisymmetrical of the carrier frame.
Preferably, the number of the jacking component is 4 and the both ends for two long sides for being respectively arranged on the carrier frame；Institute
The number for stating gear-box is 2 and is respectively arranged on the midpoint that side is strengthened in the side；The number of driven gear in the gear-box is
2；Rotating disks of the corresponding driven shaft of described two driven gears respectively with two jacking components of homonymy are connect.
Preferably, the wheel is included set on the universal wheel at a long side both ends of the carrier frame and set on another
The driving wheel at long side both ends；The driving wheel is connect with carrier frame by installing plate.
Preferably, the control cabinet lower surface is equipped with magnetic stripe sensor.
Preferably, the edge of the carrier frame is connected with the cover plate of vertical direction；
The cover plate lower end is higher than the wheel；
The cover plate upper end is connect in the carrying platform for not jacking state.
Based on unified inventive concept, the present invention also provides a kind of tops of the AGV floor trucks of above-mentioned band jacking function
Course control method for use is risen, described method includes following steps：
(1) be zeroed the rotating disk rotation angle；
(2) rotating disk is rotated to specified angle to complete to jack；
(3) rotating disk is reversely rotated to position of being zeroed.
Preferably, the step (1) includes：
Detect the rotation angle of the rotating disk：The attonity if angle is zero；Start the driving if angle non-zero
Component makes the position that rotation disc spins to the angle is zero；
Under the rotating disk clean state, the upper end of the allocated catch is in extreme lower position.
Preferably, the step (2) includes：Starting the driving component makes the rotation disc spins to the angle set
Value, the driving component stop driving.
Preferably, the step (3) includes：Starting the driving component makes the rotating disk reversely rotate to rotation angle
The position for being zero.
Compared with closest to the prior art, the beneficial effects of the present invention are：
1st, technical solution provided by the invention, carrying platform are connect by leading power column and positioning sleeve with the carrier frame；
Both having realized can relatively move between carrying platform and column up and down；Carrying platform is realized again with carrier frame in other directions
Be relatively fixed；And jacking component, drive component and power transmission component are equipped between the carrying platform and the carrier frame；Energy
It is enough that bigger bearing capacity is provided the carrying platform, and compact structure, stability are high, synchronism is good.
2nd, technical solution provided by the invention, jacking component are based on allocated catch, make its middle part fixed by allocated catch axis,
Upper and lower ends are free end；One free end (lower end) is connect by connecting rod and rotating disk with drive component and transmission component；When
Drive component drives the rotating disk rotation, makes its lower end motion by connecting rod, its another free end (upper end) is upward at this time
It lifts, carrying platform is jacked up, complete jacking engineering；It is novel in design, be skillfully constructed, structure order, stability it is high, and with holding
The contact area of carrying platform is big, it is big to provide and bearing capacity that is stablizing while can be used under any state of trolley.
3rd, technical solution provided by the invention, the carrier frame are rectangular；The jacking component count is 4 and sets respectively
The both ends of long side are placed in, transmission component is separately positioned on long side midpoint, and the jacking component of homonymy and the transmission component of homonymy connect,
It is compact-sized, space is saved, production, installation, maintenance are convenient.
4th, technical solution provided by the invention, the upper end of allocated catch are equipped with thumb wheel；The thumb wheel rotates during jacking, subtracts
Frictional force during small jacking between allocated catch and carrying platform, reduces energy requirement；Thumb wheel can make to jack simultaneously
The rising of carrying platform is at the uniform velocity stablized in journey.
Description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1：The structure chart of the AGV floor trucks of the band jacking function of removal carrying platform and cover plate provided by the invention；
Fig. 2：The structure chart of jacking component provided by the invention；
Fig. 3：The structure chart of transmission component provided by the invention；
Fig. 4：The AGV floor truck overall diagrams of band jacking function provided by the invention；
Fig. 5：The AGV floor truck bottom plan views of band jacking function provided by the invention；
Reference numeral：1- horizontal chassis frame, 2- guide posts, 3- locating sleeves, 4- fixture blocks, 5- allocated catches, 6- allocated catches axis, 7- pads
Block, 8- thumb wheels, 9- axis pins, 10- first connecting rods, 11- second connecting rods, 12- flakes connector, 13- rotating disks, 14- transmission components,
15- control cabinets, 16- universal wheels, 17- installing plates, 18- driving wheels, 19- drive components, 20- drive sprockets, 21- chains, 22- from
Movable sprocket, 23- shaft couplings, 24- connecting shafts, 25- gear-boxes, 26- driving gears, 27- driving shafts, the first driven gears of 28-,
The first driven axles of 29-, the second driven gears of 30-, the second driven axles of 31-, 32- cover plates lower end, 33- carrying platforms, 34- cover plates,
35- magnetic stripe sensors.
Specific embodiment
With reference to the attached drawing in the embodiment of the present application, the technical solution in the embodiment of the present application is carried out clear, complete
Ground describes.
Embodiment 1
The present invention provides a kind of AGV floor trucks of band jacking function, the trolley includes horizontal chassis frame 1, divides
Not She Yu the downside of carrier frame 1 control cabinet 15 and wheel, set on 1 upside of carrier frame and locating sleeve normal thereto
3rd, interior set on the locating sleeve 3 and guide post 2 that can be moved in vertical direction and the carrying platform 33 being connect with 2 upper end of guide post；
Sequentially connected jacking component, transmission component and drive component 19 are equipped between the carrier frame 1 and the carrying platform 33.
The jacking component includes two cushion blocks 7 being arranged in parallel, the fixture block 4 for being respectively arranged on 7 top of cushion block, both ends
The arc allocated catch 5 and the allocated catch 5 of the allocated catch axis 6 being connect respectively with two fixture blocks 4 and the allocated catch axis 6 rotation connection
The connecting rod of lower end connection, the rotating disk for being fixed on the flake connector 12 of the connecting rod other end and being connect with the flake connector 12
13；The flake connector 12 is connect with 13 edge of rotating disk；The middle part of the allocated catch 5 is equipped with axial axis hole, for holding
Receive the allocated catch axis 6.
The upper end of the allocated catch 5 is set there are two parallel and opposite upper dististyle；The top of described two upper dististyles is equipped with and passes through
Wear the axis of the two；The midpoint of the axis is arranged with thumb wheel 8.
The lower end of the allocated catch 5 is set there are one lower end-piece；One end being connect with allocated catch 5 of the connecting rod and the lower end-piece
It is rotatablely connected by the pivot pin for running through the two.
The connecting rod includes the first connecting rod being connect with 5 lower end of allocated catch and the second connecting rod being connect with the flake connector 12
11；The first connecting rod is equipped with parallel duplex board with one end of the allocated catch 5 connection, and the lower end-piece is set on the duplex
Between plate and by run through three bolt connect；One end point that the first connecting rod 10 and the second connecting rod 11 are connected with each other
Not She You rectangle through-hole；The through-hole length of the first connecting rod 10 is more than the through-hole length of the second connecting rod 11, described logical
Perforative bolt is equipped in hole with fixation；Taking for first connecting rod 10 and second connecting rod 11 can be adjusted by the rectangular through-hole of the two
Spreading degree, to realize the length adjustment of connecting rod.
The transmission component includes gear-box 25, in the gear-box 25 and intermeshing driving gear 26 and driven tooth
It takes turns, be respectively arranged on the driving gear 26 and driving shaft 27 and driven shaft in the driven gear axis hole；The rotating disk 13
It is sheathed on the driven shaft.
The driving component 19 includes the drive sprocket 20, logical of driving motor, the output shaft for being sheathed on the driving motor
Cross the connecting shaft 24 and the driven sprocket 22 for being sheathed on the connecting shaft 24 that shaft coupling 23 connect with the driving shaft 26；The master
Movable sprocket 20 is connect with the driven sprocket 22 by chain 21.
The carrier frame 1 is rectangular；Side parallel with it is respectively equipped on the inside of the long side of the rectangle and strengthens side, described
Main reinforcement side is equipped between the midpoint of the short side of rectangle；The side, which is strengthened being equipped between in the main reinforcement, to be respectively equipped with therewith
Vertical short reinforcement side.
The locating sleeve 3 is respectively arranged on the main both ends for strengthening side.
Described two cushion blocks 7 are respectively arranged on the long side of the carrier frame 1 and the side is strengthened on side.
The number of the jacking component is more than or equal to 4 and about the axisymmetrical of the carrier frame.
The number of the jacking component is 4 and the both ends for two long sides for being respectively arranged on the carrier frame 1；The gear
The number of case 25 is 2 and is respectively arranged on the midpoint that side is strengthened in the side；Driven gear in the gear-box 25 include first from
28 and second driven gear 29 of moving gear；First driven gear, 28 and second driven gear, the 29 corresponding first driven shaft 29
It is connect with rotating disk 13 of the second driven shaft 30 respectively with two jacking components of homonymy.
The driving shaft 27 of described two gear-boxes is connect respectively with same connecting shaft 24.
The wheel is included set on the universal wheel 16 at a long side both ends of the carrier frame and set on another long side
The driving wheel 18 at both ends；The driving wheel 18 is connect with carrier frame 1 by installing plate 17.
15 lower surface of control cabinet is equipped with magnetic stripe sensor 35.
The edge of the carrier frame 1 is connected with the cover plate 34 of vertical direction；
The cover plate lower end 32 is higher than the wheel；
34 upper end of cover plate is connect in the carrying platform 33 for not jacking state.
Embodiment 2
Based on unified inventive concept, the present invention also provides a kind of tops of the AGV floor trucks of above-mentioned band jacking function
Course control method for use is risen, described method includes following steps：
(1) be zeroed 13 rotation angle of rotating disk；
(2) rotating disk 13 is rotated to specified angle to complete to jack；
(3) rotating disk 13 is reversely rotated to zero position.
The step (1) includes：
Detect the rotation angle of the rotating disk 13：The attonity if angle is zero；Start the drive if angle non-zero
Dynamic component 19 makes the rotating disk 13 rotate the position for being zero to angle；
Under 13 clean state of rotating disk, the upper end of the allocated catch 5 is in extreme lower position.
The step (2) includes：Starting the driving component 19 makes the rotation of rotating disk 13 to the angle value of setting, institute
It states drive component 19 and stops driving.
The step (3) includes：Startup the driving component 19 makes the rotating disk 13 reversely rotate to rotation angle
Zero position.
Finally it should be noted that：Described embodiment is only the reality of some embodiments of the present application rather than whole
Example is applied, based on the embodiment in the application, what those skilled in the art were obtained under the premise of creative work is not made
All other embodiment, shall fall in the protection scope of this application.
Claims (19)
1. a kind of AGV floor trucks of band jacking function, the trolley include horizontal chassis frame, are respectively arranged under carrier frame
The control cabinet and wheel of side；It is characterized in that, the upside of the carrier frame is equipped with locating sleeve normal thereto；The positioning
The guide post that can be moved in vertical direction is equipped in casing；The guide post upper end is connected with carrying platform；The carrier frame and institute
It states and sequentially connected jacking component, transmission component and drive component is equipped between carrying platform.
A kind of 2. AGV floor trucks of band jacking function according to claim 1, which is characterized in that the jacking component
It is connect respectively with two fixture blocks including two cushion blocks being arranged in parallel, the fixture block being respectively arranged on above the cushion block, both ends
Allocated catch axis, be fixed on the allocated catch axis arc allocated catch, connect with the allocated catch lower end connecting rod, to be fixed on the connecting rod another
The flake connector of one end and the rotating disk being connect with the flake connector；The flake connector is connect with the rotating disk edge；
The middle part of the allocated catch is equipped with axial axis hole, for accommodating the allocated catch axis.
3. a kind of AGV floor trucks of band jacking function according to claim 2, which is characterized in that the allocated catch it is upper
Hold parallel and opposite upper dististyle there are two setting；The top of described two upper dististyles is equipped with the axis through the two；In the axis
Scroll wheel is arranged at point.
4. the AGV floor trucks of a kind of band jacking function according to claim 2, which is characterized in that under the allocated catch
Hold lower end-piece there are one setting；One end being connect with allocated catch of the connecting rod is rotated with the lower end-piece by running through the pivot pin of the two
Connection.
A kind of 5. AGV floor trucks of band jacking function according to claim 2, which is characterized in that the transmission component
Including gear-box, in gear-box and intermeshing driving gear and driven gear, be respectively arranged on the driving gear and
Driving shaft and driven shaft in the driven gear axis hole；The rotating disk be arranged on the driven shaft.
A kind of 6. AGV floor trucks of band jacking function according to claim 5, which is characterized in that the driving component
Including driving motor, the output shaft for being sheathed on the driving motor drive sprocket, pass through shaft coupling and the active axis connection
Connecting shaft and be sheathed on the driven sprocket of the connecting shaft；The drive sprocket is connect with the driven sprocket by chain.
A kind of 7. AGV floor trucks of band jacking function according to claim 6, which is characterized in that the carrier frame
It is rectangular；Be respectively equipped on the inside of the long side of the rectangle side parallel with it strengthen side, the rectangle short side midpoint between set
There is main reinforcement side；The side, which is strengthened being equipped between in the main reinforcement, is respectively equipped with short reinforcement side normal thereto.
A kind of 8. AGV floor trucks of band jacking function according to claim 7, which is characterized in that the locating sleeve
It is respectively arranged on the main both ends for strengthening side.
A kind of 9. AGV floor trucks of band jacking function according to claim 7, which is characterized in that described two cushion blocks
The long side and the side for being respectively arranged on the carrier frame are strengthened on side.
A kind of 10. AGV floor trucks of band jacking function according to claim 9, which is characterized in that the jacking component
Number be more than or equal to 4 and about the axisymmetrical of the carrier frame.
A kind of 11. AGV floor trucks of band jacking function according to claim 10, which is characterized in that the jacking group
The number of part is 4 and is respectively arranged on the both ends of two long sides of the carrier frame；The number of the gear-box is 2 and sets respectively
Strengthen the midpoint on side in the side；The number of driven gear in the gear-box is 2；Described two driven gears it is corresponding from
Rotating disk of the moving axis respectively with two jacking components of homonymy is connect.
12. the AGV floor trucks of a kind of band jacking function according to claim 7, which is characterized in that the wheel includes
Universal wheel set on a long side both ends of the carrier frame and the driving wheel set on another long side both ends；The driving wheel
It is connect with carrier frame by installing plate.
13. the AGV floor trucks of a kind of band jacking function according to claim 1, which is characterized in that under the control cabinet
Surface is equipped with magnetic stripe sensor.
A kind of 14. AGV floor trucks of band jacking function according to claim 1, which is characterized in that the carrier frame
Edge be connected with the cover plate of vertical direction；
The cover plate lower end is higher than the wheel；
The cover plate upper end is connect in the carrying platform for not jacking state.
A kind of 15. AGV floor trucks of band jacking function according to claim 1, which is characterized in that the height of the guide post
Degree is more than the depth of the positioning sleeve；The depth of the positioning sleeve is more than the maximum top lifting height of the jacking component.
16. a kind of jacking process control side of the AGV floor trucks of claim 1~15 any one of them band jacking function
Method, which is characterized in that described method includes following steps：
(1) be zeroed the rotating disk rotation angle；
(2) rotating disk is rotated to specified angle to complete to jack；
(3) rotating disk is reversely rotated to position of being zeroed.
17. control method according to claim 16, which is characterized in that the step (1) includes：
Detect the rotation angle of the rotating disk：The attonity if angle is zero；Start the driving component if angle non-zero
Make the position that rotation disc spins to the angle is zero；
Under the rotating disk clean state, the upper end of the allocated catch is in extreme lower position.
18. control method according to claim 16, which is characterized in that the step (2) includes：Start the driving group
Part makes the rotation disc spins, and to the angle value set, the driving component stops driving.
19. control method according to claim 16, which is characterized in that the step (3) includes：Start the driving group
The position that it is zero to rotation angle that part, which reversely rotates the rotating disk,.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711460419.5A CN108147309A (en) | 2017-12-28 | 2017-12-28 | A kind of AGV floor trucks of band jacking function and its jacking control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711460419.5A CN108147309A (en) | 2017-12-28 | 2017-12-28 | A kind of AGV floor trucks of band jacking function and its jacking control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108147309A true CN108147309A (en) | 2018-06-12 |
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ID=62463318
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711460419.5A Pending CN108147309A (en) | 2017-12-28 | 2017-12-28 | A kind of AGV floor trucks of band jacking function and its jacking control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945151A (en) * | 2018-07-31 | 2018-12-07 | 储海霞 | A kind of Novel intelligent trolley |
| CN110053686A (en) * | 2019-04-12 | 2019-07-26 | 长安大学 | A kind of Universal moving platform |
| CN111391849A (en) * | 2020-03-11 | 2020-07-10 | 三一机器人科技有限公司 | Vehicle control method, device, vehicle and readable storage medium |
-
2017
- 2017-12-28 CN CN201711460419.5A patent/CN108147309A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945151A (en) * | 2018-07-31 | 2018-12-07 | 储海霞 | A kind of Novel intelligent trolley |
| CN110053686A (en) * | 2019-04-12 | 2019-07-26 | 长安大学 | A kind of Universal moving platform |
| CN111391849A (en) * | 2020-03-11 | 2020-07-10 | 三一机器人科技有限公司 | Vehicle control method, device, vehicle and readable storage medium |
| CN111391849B (en) * | 2020-03-11 | 2021-10-29 | 三一机器人科技有限公司 | Vehicle control method, device, vehicle and readable storage medium |
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