CN108439276A - A kind of side-feeding type is from centering omnidirectional AGV fork trucks - Google Patents
A kind of side-feeding type is from centering omnidirectional AGV fork trucks Download PDFInfo
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- CN108439276A CN108439276A CN201810392818.0A CN201810392818A CN108439276A CN 108439276 A CN108439276 A CN 108439276A CN 201810392818 A CN201810392818 A CN 201810392818A CN 108439276 A CN108439276 A CN 108439276A
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- 229920000742 Cotton Polymers 0.000 claims abstract description 61
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 230000004044 response Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 241000219146 Gossypium Species 0.000 description 51
- 241000209140 Triticum Species 0.000 description 8
- 235000021307 Triticum Nutrition 0.000 description 8
- 230000004888 barrier function Effects 0.000 description 6
- 230000007306 turnover Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009960 carding Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
Classifications
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- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention provides a kind of side-feeding types from centering omnidirectional AGV fork trucks, belong to unmanned vehicle technology field, it is characterized in that, including accumulator group, vehicle frame, running gear, undertaking system, centering system, detecting system, jack-up system, navigation system and control system, the middle and back of vehicle frame is provided with door frame, it is set as cotton on the outside of the front side vehicle frame of door frame and is packed in mouth, lateral frame is provided on door frame, lateral frame is provided at both ends with side into sensors in place, one group of pallet fork is provided on front side of door frame, non-powered roller, power drum, pallet fork is towards headstock direction, pallet fork is connected in a manner of it can vertically slide with door frame, the front-end and back-end of pallet fork are both provided with centering detection sensor, non-powered roller direction is the same as longeron direction, non-powered roller is connected with vehicle frame in a rotatable way；Simultaneously have the function of side into and centering function, high degree of automation, working efficiency and follow-up stacking quality can be improved.
Description
Technical field
The present invention relates to unmanned vehicle technology fields, and in particular to one kind by cotton packet after scutching cotton process for being transported to turnover area
Side-feeding type from centering omnidirectional AGV fork trucks.
Background technology
Textile industry is after scutching cotton process, and cotton is packaged into mono- cuboid block of 600X700X1200, by scutcher hydraulic pressure
Device pushes out, then by being manually carried to turnover area, lower road carding step is waited for be processed.In this circular flow, need
Manpower is wanted to have enough to meet the need, labor intensity is higher, and cost is higher, inefficiency.The fork truck of the prior art is mostly the structure of preposition pallet fork,
Cargo need to be held up straight cutting forward when use, on the one hand this mode has that the degree of automation is low, on the other hand hold up
Cargo there is shift phenomenon mostly, and drift condition differs, and is unfavorable for the stacking of follow-up turnover area, influences working efficiency and code
Pile quality.
Invention content
The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide it is a kind of and meanwhile have the function of side into
For side-feeding type with centering function from centering omnidirectional AGV fork trucks, high degree of automation can improve working efficiency and follow-up stacking matter
Amount.
The technical solution that the present invention solves above-mentioned technical problem is as follows：
A kind of side-feeding type is arranged from centering omnidirectional AGV fork trucks in scutcher（101）Scutching cotton delivery device（102）Output end,
The transhipment of cotton packet for the scutching cotton delivery device output to scutcher and centering, which is characterized in that including
Accumulator group provides the energy for fork truck,
Vehicle frame is made of the longeron in same vehicle body direction and the crossbeam perpendicular to vehicle body direction, and the crossbeam direction is the same as the defeated of cotton packet
Outgoing direction,
Running gear, four Mecanum wheels by being separately positioned on bottom of frame form,
Undertaking system, including one group of non-powered roller being arranged on vehicle frame are come for accepting by the conveying of scutching cotton delivery device
Cotton packet,
Centering system, including power drum are used for the position centering of cotton packet,
Detecting system, including centering detection sensor and side are used for the position detection of cotton packet into sensors in place,
Jack-up system, including door frame, one group of pallet fork, for jacking the cotton packet after centering to certain height,
Navigation system,
And control system, for receiving from centering detection sensor and side into the information of sensors in place and to Mecanum
The control of wheel, power drum and pallet fork；
The middle and back of vehicle frame is provided with door frame, and cotton is set as on the outside of the front side vehicle frame of door frame and is packed in mouth, cross is provided on door frame
Holder, lateral frame are provided at both ends with side into sensors in place, and one group of pallet fork, non-powered roller, dynamic is provided on front side of door frame
Power roller, pallet fork are connected in a manner of it can vertically slide with door frame towards headstock direction, pallet fork, the front end of pallet fork and
Rear end is both provided with centering detection sensor, and non-powered roller direction is with longeron direction, and non-powered roller is with rotatable
Mode is connected with vehicle frame, and the power drum is connected with vehicle frame in a rotatable way, power drum both ends respectively with phase
Adjacent crossbeam is connected with longeron, and setting is in predetermined angle between power drum and longeron, and the upper surface of the pallet fork is not higher than non-
The upper horizontal section of power drum and power drum.
Further, the navigation system is set as laser navigation or two-dimension code navigation.
Further, the non-powered roller sets at least to two.
Further, the power drum is set as four.
Further, adjacent power roller is set as axisymmetric structure.
Further, four power drums are respectively individually control.
Further, the lateral frame length is suitable with the length of cotton packet to be transported.
The beneficial effects of the invention are as follows：By being used as cargo management area, the front side vehicle frame of door frame on front side of the door frame of setting
Outside be set as cotton and be packed in mouth, be used for cotton packet by the speed of cargo itself and the non-powered roller and power drum of setting
It is delivered on fork truck, forms the side-feeding type structure that cotton packet laterally enters operation area with fork truck, high degree of automation can effectively subtract
Few fork truck implements the action frequency needed for cargo transfer, is conducive to improve working efficiency；Pass through the dynamic of four independent controls of setting
Power roller adjusts its rotating speed and direction of rotation respectively, can implement centering to cargo while transshipment cargo, reach turnover area
When cargo be regular state, substantially increase cargo stacking quality and working efficiency；It is realized using four Mecanum wheels
Omni-mobile is navigated using laser or Quick Response Code, realizes unmanned automatic driving.
Description of the drawings
Fig. 1 is the overlooking structure diagram of the present invention；
Fig. 2 is the side structure schematic view of the present invention；
Fig. 3 is the structural schematic diagram of bottom of frame of the present invention；
Fig. 4 is the structural schematic diagram of prior art scutcher.
In figure：1. vehicle frame, 11. longerons, 12. crossbeams, 2. Mecanum wheels, 3. non-powered rollers, 4. door frames, 5. horizontal branch
Frame, 6. power drums, into sensors in place, 72. centerings detect noninvasive sensor, 8. pallet forks for 71. sides, and 9. cottons are packed in mouth, 100. cottons
Packet, 101. scutchers, 102. scutching cotton delivery devices, 111. obstacle sensors, 112. anticollision strips.
Specific implementation mode
Principles and features of the present invention are described below in conjunction with the accompanying drawings, illustrated embodiment is served only for explaining the present invention,
It is not intended to limit the scope of the present invention.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on ... shown in the drawings or
Position relationship is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is directly under or diagonally below the second feature, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
As shown in figure 4, after cotton is packaged into the cotton packet 100 of cuboid by the scutcher 101 of the prior art, pushed through scutching cotton
Mechanism 102 releases, and the output end in scutching cotton delivery device 102 is arranged from centering omnidirectional AGV fork trucks for the side-feeding type of the present embodiment,
The transhipment for the cotton packet 100 that scutching cotton delivery device 102 for scutcher 101 exports and centering；
As shown in Figure 1-Figure 3, the AGV fork trucks include：
Accumulator group provides the energy for fork truck,
Vehicle frame 1, the longeron 11 by same vehicle body direction and the crossbeam 12 perpendicular to vehicle body direction form, the same cotton in 12 direction of the crossbeam
The outbound course of packet 100,
Running gear, four Mecanum wheels 2 by being separately positioned on 1 bottom of vehicle frame form, two of which be realize forward and
The left wheat rotating wheel being moved to the left, other two is to realize the right wheat rotating wheel to the right and moved backward, left wheat rotating wheel and right wheat rotating wheel
It is symmetrical in chirality, and four wheats wheels are arranged in ABBA, as shown in figure 3, two left wheat rotating wheels are separately positioned on the left front of bottom of frame
Angle and right relief angle, two right wheat rotating wheels are separately positioned on the left rear corner of bottom of frame and right anterior angle, and four wheat wheels are respectively by independent
Motor independent control, cooperate realize fork truck Omni-mobile,
Undertaking system, including one group of non-powered roller 3 being arranged on vehicle frame 1 are conveyed for accepting by scutching cotton delivery device 102
The cotton packet 100 to come over,
Centering system, including power drum 6 are used for the position centering of cotton packet 100, are band cargo centering system,
Detecting system, including centering detection sensor 72 and side are used for the position detection of cotton packet 100 into sensors in place 71,
Jack-up system, including 4, one groups of pallet forks 8 of door frame, for jacking the cotton packet 100 after centering to certain height,
Navigation system, using laser or two-dimension code navigation,
And control system, for receiving from centering detection sensor 72 and side into the information of sensors in place 71 and to Mike
The control of Na Mu wheels 2, power drum 6 and pallet fork 8；
The middle and back of vehicle frame 1 is provided with door frame 4, and 4 front area of door frame is operation area, and the outside of the front side vehicle frame 1 of door frame 4 is set
It is set to cotton and is packed in mouth 9, cotton packet 100 is packed in mouth 9 via cotton along its length and is pushed to the operation area, is arranged on door frame 4
There are lateral frame 5, lateral frame 5 to be arranged cargo during the rear side of door frame 4 is intended to not influence follow-up stacking through being put down at headstock,
5 length of lateral frame is suitable with the length of cotton packet 100 to be transported, and lateral frame 5 is provided at both ends with side into sensors in place 71,
The front side of door frame 4 is provided with one group of pallet fork, 8, two non-powered rollers 3 and four power drums 6, and pallet fork 8 is towards headstock side
To pallet fork 8 is connected in a manner of it can vertically slide with door frame 4, and pallet fork is placed on to realize by the lifting of pallet fork 8
The front-end and back-end of the jack-up of cargo on 8, pallet fork 8 are both provided with centering detection sensor 72,
With 11 direction of longeron, non-powered roller 3 is connected with vehicle frame 1 in a rotatable way in 3 direction of non-powered roller,
The power drum 6 is connected with vehicle frame 1 in a rotatable way, and four power drums 6 are individually controlled by motor respectively
System, 6 both ends of power drum are connected with adjacent crossbeam 12 and longeron 11 respectively, and adjacent power roller 6 is set as axisymmetric
Structure, it is in predetermined angle to be arranged between power drum 6 and longeron 11, and power drum 6 and longeron 11 are in 45° angle in the present embodiment,
The upper surface of the pallet fork 8 is not higher than the upper horizontal section of non-powered roller 3 and power drum 6, power drum 6 and non-powered rolling
The upper horizontal section of cylinder 3 is coplanar.
In addition, the AGV fork trucks are additionally provided with obstacle avoidance system, using be arranged headstock, the tailstock, 5 both ends of lateral frame wall
Hinder sensor 111 and 112 duplicate protection of anticollision strip in headstock and the tailstock is set.When fork truck direction of travel has barrier, keep away
After barrier sensor receives optical signal, after being converted into electric signal by optical signal, electric signal feeds back to controller, and controller receives
After electric signal, controller, which sends out order, makes driving motor stop operating and signal of alarming（Loudspeaker can prompt front to have barrier）；
After front obstacle removes, signal is fed back to controller by avoidance sensor, and controller sends out instruction and starts driving motor, makes
Trolley continues to run with and stop alarm；When avoidance sensor breaks down or other reasons do not detect barrier, barrier
By the anticollision strip of the installation of collision on the car body, anticollision strip is interior to be equipped with normal open switch, and when encountering barrier, normal open switch is closed,
Electric signal, which is fed back to controller, to be made fork truck stop motion and sends out alarm signal.
The course of work of the AGV fork trucks of the present embodiment is as follows：
As shown in Figure 1, the cotton that cotton packet 100 is pushed to fork truck by scutching cotton delivery device 102 is packed in mouth 9 in place, cotton packet 100 is transported at this time
Line direction has a certain speed with its length direction under self inertia effect when cotton packet 100 pushes, cotton packet 100 be pushed to
The surface of pallet fork 8, non-powered roller 3, power drum 6, non-powered roller 3 generate rotation auxiliary cotton packet 100 in place, set at this time
It sets and is formed by the power drum 6 in four corners in longeron 11 and crossbeam 12 and starts to rotate, top surface rolling tangential on power drum 6
Direction is consistent with 100 direction of motion of cotton packet, to drive cotton packet 100 to move；When the side at 5 both ends of lateral frame is into sensors in place 71
Power drum 6 stops rotating when detecting cargo respectively, when the centering sensor 72 of the diagonal position of two pallet forks 8 is detected simultaneously by
When cargo, it was demonstrated that testing result is fed back to control system to cargo by deflection, centering sensor 72, and control system is according to result
Power drum 6 is respectively started, by control four different rotating speeds of power drum 6 and direction of rotation respectively adjust be positioned over it is dynamic
The position of cotton packet 100 on power roller 6, until cotton packet 100 is ajusted；While centering process, fork truck automatic running to turnover
Area, after cargo is ajusted, control system controls pallet fork and jacks up cargo to preset height, then through putting cargo to stacking at headstock
Area completes transhipment and stacking work.
Compared with the structure of the direct insertion fork goods in prior art fork truck front end, it is used as goods on front side of the door frame that the present invention passes through setting
Object management area is set as cotton on the outside of the front side vehicle frame of door frame and is packed in mouth, by cargo itself speed and setting it is non-dynamic
Power roller and power drum are used to cotton packet being delivered to fork truck, form the side-feeding type knot that cotton packet laterally enters operation area with fork truck
Structure, high degree of automation can effectively reduce the action frequency needed for fork truck implementation cargo transfer, be conducive to improve working efficiency；
Its rotating speed and direction of rotation are adjusted respectively by the power drum of four independent controls of setting, it can be while transshipment cargo
Centering is implemented to cargo, cargo is regular state when reaching turnover area, substantially increases cargo stacking quality and work effect
Rate；Omni-mobile is realized using four Mecanum wheels, is navigated using laser or Quick Response Code, realizes unmanned automatic driving.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (7)
1. a kind of side-feeding type is arranged from centering omnidirectional AGV fork trucks in scutcher（101）Scutching cotton delivery device（102）Output
End, which is characterized in that including
Accumulator group provides the energy for fork truck,
Vehicle frame（1）, by the longeron in same vehicle body direction（11）And the crossbeam perpendicular to vehicle body direction（12）Composition, the crossbeam（12）
Direction is the same as cotton packet（100）Outbound course,
Running gear, by being separately positioned on vehicle frame（1）Four Mecanum wheels of bottom（2）Composition,
Undertaking system, including be arranged in vehicle frame（1）On one group of non-powered roller（3）, for accepting by scutching cotton delivery device
（102）Convey the cotton packet to come（100）,
Centering system, including power drum（6）, it is used for cotton packet（100）Position centering,
Detecting system, including centering detection sensor（72）With side into sensors in place（71）, it is used for cotton packet（100）Position inspection
It surveys,
Jack-up system, including door frame（4）, one group of pallet fork（8）, it is used for the cotton packet after centering（100）It jacks to certain height,
Navigation system,
And control system, come from centering detection sensor for receiving（72）With side into sensors in place（71）Information and right
Mecanum wheel（2）, power drum（6）And pallet fork（8）Control；
Vehicle frame（1）Middle and back be provided with door frame（4）, door frame（4）Front side vehicle frame（1）Outside be set as cotton and be packed in mouth（9）,
Door frame（4）On be provided with lateral frame（5）, lateral frame（5）Be provided at both ends with side into sensors in place（71）, door frame（4）Before
Side is provided with one group of pallet fork（8）, non-powered roller（3）, power drum（6）, pallet fork（8）Towards headstock direction, pallet fork（8）With can
The mode and door frame vertically slided（4）It is connected, pallet fork（8）Front-end and back-end be both provided with centering detection sensor
（72）, the non-powered roller（3）The same longeron in direction（11）Direction, non-powered roller（3）In a rotatable way with vehicle frame（1）
It is connected, the power drum（6）In a rotatable way with vehicle frame（1）It is connected, power drum（6）Both ends respectively with it is adjacent
Crossbeam（12）And longeron（11）It is connected, power drum（6）With longeron（11）Between setting be in predetermined angle, the pallet fork（8）
Upper surface be not higher than non-powered roller（3）And power drum（6）Upper horizontal section.
2. fork truck according to claim 1, which is characterized in that the navigation system is set as laser navigation or Quick Response Code is led
Boat.
3. fork truck according to claim 1, which is characterized in that the non-powered roller（3）Set at least to two.
4. fork truck according to claim 1, which is characterized in that the power drum（6）It is set as four.
5. fork truck according to claim 4, which is characterized in that adjacent power roller（6）It is set as axisymmetric structure.
6. fork truck according to claim 4, which is characterized in that four power drums（6）Respectively individually control.
7. fork truck according to claim 1, which is characterized in that the lateral frame（5）Length and cotton packet to be transported（100）'s
Length is suitable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810392818.0A CN108439276B (en) | 2018-04-27 | 2018-04-27 | Side-entering type self-alignment omni-directional AGV forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810392818.0A CN108439276B (en) | 2018-04-27 | 2018-04-27 | Side-entering type self-alignment omni-directional AGV forklift |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108439276A true CN108439276A (en) | 2018-08-24 |
| CN108439276B CN108439276B (en) | 2023-10-24 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111240340A (en) * | 2020-02-11 | 2020-06-05 | 北京海益同展信息科技有限公司 | Inspection robot, safe operation system, safe operation method and storage medium |
| CN111362190A (en) * | 2020-03-06 | 2020-07-03 | 安徽宇锋智能科技有限公司 | Fork transport AGV |
| CN113200478A (en) * | 2021-03-22 | 2021-08-03 | 诺力智能装备股份有限公司 | Bidirectional AGV and use method thereof |
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| CN205973648U (en) * | 2016-07-26 | 2017-02-22 | 安徽安鑫货叉有限公司 | Roller type fork |
| CN208279265U (en) * | 2018-04-27 | 2018-12-25 | 山东华力机电有限公司 | A kind of side-feeding type is from centering omnidirectional AGV fork truck |
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| CN111240340A (en) * | 2020-02-11 | 2020-06-05 | 北京海益同展信息科技有限公司 | Inspection robot, safe operation system, safe operation method and storage medium |
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| CN113200478A (en) * | 2021-03-22 | 2021-08-03 | 诺力智能装备股份有限公司 | Bidirectional AGV and use method thereof |
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